IDENTIFICACIÓN DE PARÁMETROS DE UN MOTOR DC PARA EL CONTROL DE PAR SIN SENSOR DE UNA INTERFAZ HÁPTICA (PARAMETER IDENTIFICATION OF A DC MOTOR FOR SENSOR-FREE TORQUE CONTROL OF A HAPTIC INTERFACE)
Resumen
Resumen
Las interfaces hápticas han tenido impacto en aplicaciones que buscan la inmersión del usuario, tal es el caso de las áreas de entrenamiento, educación, medicina y entretenimiento. El impacto que tienen en dichas áreas recae en el hecho de que una interfaz háptica permite la interacción, entre el usuario y un ambiente remoto o virtual, por medio del sentido del tacto. En el presente artículo, se propone un método para la identificación experimental de los parámetros constante de par y momento de inercia de un motor de corriente directa. La identificación de ambos parámetros es indispensable para el diseño de un control de par sin sensor basado en un Observador de Perturbaciones (DOB, por sus siglas en inglés), cuando no se cuenta con la información del fabricante. Se implementó un control de par basado en DOB utilizando los parámetros experimentales de control de par y momento de inercia. Dicho control se implementó en un motor DC que a su vez fungió como interfaz háptica, permitiéndole ejercer un par de referencia. Los resultados obtenidos de la identificación de los parámetros permitieron obtener una respuesta del DOB similar a las de un sensor de par.
Palabra(s) Clave: control de par, identificación de parámetros, interfaz háptica, motor DC.
Abstract
Haptic interfaces have had an impact on applications that seek user immersion, such as training, education, medicine and entertainment. The impact they have on this type of applications lies in the fact that haptic interfaces allow an interaction, between the user and a remote or virtual environment, through the sense of touch. This article proposes a method for the experimental identification of the constant torque and moment of inertia parameters of a DC motor. The identification of these parameters is essential for the design of a sensorless torque control based on a Disturbance Observer (DOB), when the manufacturer's information is not available. The implementation of a torque control based on DOB was achieved using the experimental parameters of torque control and moment of inertia. This control was implemented in a DC motor which served as a haptic interface, allowing to display a reference torque. The parameter identification results allowed to obtain a DOB response corresponding to a torque sensor.
Keywords: torque control, parameter identification, haptic interface, DC motor.
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