Double closed-loop driving system for resonant tactile sensor

Self-excited driving is a main closed-loop driving technique for resonant sensors. To meet the needs for amplitude control and frequency tracking of a self-excited tactile sensor system, a self-excited drive circuit based on phase locked loop (PLL) and automatic gain control (AGC) is designed to achieve amplitude stabilization and frequency tracking for tactile sensor output signals. Firstly, the hardware design of the double closed-loop circuit is determined. Meanwhile, the system model of the double closed-loop self-excited drive circuit is established based on Simulink. Then, based on the double closed-loop control system model, this paper analyzes the performance parameters. Meanwhile, the feasibility of the double closed loop self-excited drive is verified by simulation. Finally, the hardware design scheme is determined. The simulation verifies the control effect of the hardware circuit. The simulation results show that the double closed-loop self-excited drive circuit can drive tactile sensor to achieve frequency tracking and amplitude stabilization control.