Abstract
The design problem of the force control with a steel cable is studied. The dynamic model of the plant and the control law are discussed. The system is a partial body weight support system applied to patients stepping on a treadmill. Analysis showed that the transfer function of the plant of such systems was a proportional term in the frequency range available. So an integral control was suitable for such systems with a steel cable. And it was suitable to use a proportional speed control for lifting or lowering of the steel cable. The tuning of the system was discussed. Because the bandwidth of such systems was relatively low, a disturbance observer was necessary for disturbance compensation. A disturbance model of up to third harmonic was proposed for the observer design. The observer was based on the first-order assumption of the steel cable system and was verified by simulation with the real system model. The influence of the higher harmonics of the disturbance on the system performance was also illustrated by simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 82-87 |
| Number of pages | 6 |
| Journal | Dianji yu Kongzhi Xuebao/Electric Machines and Control |
| Volume | 14 |
| Issue number | 11 |
| State | Published - Nov 2010 |
Keywords
- Disturbance compensation
- Disturbance observer
- Force control
- Integral control
- Steel cable system
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