連続設計から遅延考慮の離散合成へ：PMSMドライブの高帯域ジョイント制御を保証する手法
From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives
ロボット関節の電流制御を、通信・計算遅延を明示的に考慮した離散時間モデルで直接設計し、帯域幅と遅延の保証を実現する枠組みを提案。シミュレーションと実機で有効性を検証した。
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著者: Edmundo Pozo Fortunić, Mehmet C. Yildirim, Sami Haddadin
分類: cs.RO
原文アブストラクト
The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where communication, computation, and discrete-time effects can no longer be neglected. Conventional PMSM current controllers are typically designed in continuous time and subsequently discretized, leaving the sampling frequency and the impact of implementation delays largely to heuristic selection and iterative validation. This paper introduces a task-aware, delay-extended discrete-time joint model that explicitly accounts for physical communication and computation delays and enables direct synthesis of a discrete PI current controller with prescribed bandwidth and delay guarantees throughout the operating envelope. The framework analytically determines the minimum required sampling frequency, controller gains, and DC-link voltage needed to satisfy the specified motor and joint performance. Simulations across a range of dynamic requirements validate the methodology and demonstrate substantially reduced sampling-frequency and DC-link-voltage requirements compared with conventional continuous-time-based design. Experiments on a newly developed custom robotic joint further validate the proposed framework under real embedded implementation conditions.