A guide to design disturbance observer based motion control systems

Emre Sariyildiz, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools. The paper proposes a new practical robustness constraint, which improve the robustness at high frequencies, on the bandwidth of a DOB and nominal inertia. Although increasing the bandwidth of a DOB and nominal inertia improves the performance and stability, they are limited by the robustness constraint. Besides, a novel stability analysis method is proposed for reaction force observer (RFOB) based robust force control systems. It is shown that not only the performance, but also the stability changes significantly by the imperfect identification of inertia and torque coefficient. The robustness and stability of a DOB based motion control system are improved by proposing new design tools. The validity of the proposals are verified by experimental results.

Original languageEnglish
Title of host publication2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
PublisherIEEE Computer Society
Pages2483-2488
Number of pages6
ISBN (Print)9781479927050
DOIs
Publication statusPublished - 2014
Event7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 - Hiroshima, Japan
Duration: 2014 May 182014 May 21

Other

Other7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
CountryJapan
CityHiroshima
Period14/5/1814/5/21

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Keywords

  • Disturbance Observer
  • Motion Control Systems
  • Reaction Force Observer
  • Robustness and Stability

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sariyildiz, E., & Ohnishi, K. (2014). A guide to design disturbance observer based motion control systems. In 2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 (pp. 2483-2488). [6869938] IEEE Computer Society. https://doi.org/10.1109/IPEC.2014.6869938