TY - JOUR
T1 - An enhanced periodic-disturbance observer for improving aperiodic-disturbance suppression performance
AU - Muramatsu, Hisayoshi
AU - Katsura, Seiichiro
N1 - Funding Information:
The PDOB that was proposed to compensate for a periodic disturbance does not take aperiodic disturbance into account. Accordingly, the aperiodic disturbances in low-frequency range cannot be sufficiently suppressed when a fundamental frequency of a target periodic-disturbance is in the low-frequency range. In order to improve the aperiodic-disturbance suppression performance of the PDOB, this paper proposed the enhanced PDOB. The proposed method was constructed by combining the PDOB and DOB. As a result, the sensitivity function of the enhanced PDOB obtained an additional high-pass characteristic, which suppresses the aperiodic disturbances. The experiments showed the problems of the PDOB and validated the improvement of the enhanced PDOB. Acknowledgment This work was partially supported by JSPS KAKENHI Grant Number 18H03784 and Keio University Doctoral Student Grant-in-Aid Program.
Publisher Copyright:
© 2019 The Institute of Electrical Engineers of Japan.
PY - 2019
Y1 - 2019
N2 - Repetitive operations are widely conducted by automatic machines in the industry, and the periodic disturbances induced by such operations are a concern as they hinder the proper functioning of these machines. A periodic-disturbance observer (PDOB) has been studied previously to compensate for the periodic disturbances. This observer is a two-degree-of-freedom controller based on the observer structure estimating a periodic disturbance. However, the PDOB does not take aperiodic disturbances into account because it focuses only on periodic disturbances. This paper proposes an enhanced PDOB to enable the PDOB also to compensate for aperiodic disturbances. The enhanced PDOB is constructed by combining the PDOB and disturbance observer. Experiments were conducted using a multi-axis manipulator to compare the PDOB with the enhanced PDOB. The experimental results demonstrate the validity of the proposed method.
AB - Repetitive operations are widely conducted by automatic machines in the industry, and the periodic disturbances induced by such operations are a concern as they hinder the proper functioning of these machines. A periodic-disturbance observer (PDOB) has been studied previously to compensate for the periodic disturbances. This observer is a two-degree-of-freedom controller based on the observer structure estimating a periodic disturbance. However, the PDOB does not take aperiodic disturbances into account because it focuses only on periodic disturbances. This paper proposes an enhanced PDOB to enable the PDOB also to compensate for aperiodic disturbances. The enhanced PDOB is constructed by combining the PDOB and disturbance observer. Experiments were conducted using a multi-axis manipulator to compare the PDOB with the enhanced PDOB. The experimental results demonstrate the validity of the proposed method.
KW - Disturbance observer
KW - Motion control
KW - Periodic disturbance
KW - Periodic-disturbance observer
KW - Time-delay element
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U2 - 10.1541/ieejjia.8.177
DO - 10.1541/ieejjia.8.177
M3 - Article
AN - SCOPUS:85064811736
SN - 2187-1094
VL - 8
SP - 177
EP - 184
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
IS - 2
ER -