INJECTION METHOD OF PHYSICAL DAMPING IN CONTROL SYSTEM BASED ON FPGA, AND HAPTIC SYSTEM USING IT

摘要

PURPOSE: A physical damping injection method in an FPGA based control system and a haptic system applying the same are provided to control a haptic device more stably by preventing noises generated during low speed contact in PO(Passivity Observer) and PC(Passivity Controller). CONSTITUTION: A haptic environment rendering routine(810) is updated to 1KHz in a PC processor. A current control routine(820) includes a current controller which obtains current and generates PWM(Pulse Width Modulation) simultaneously. A speed estimating routine(830) is irregularly updated whenever an encoder pulse is generated. A PO/PC calculating routine(840) considers irregular update through connection of PC and PC values with the speed estimating routine and rapid regular update altogether.