Design guidelines for disturbance observer's filter in discrete time

Ivan Godler, Hideki Honda, Kouhei Ohnishi

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

44 Citations (Scopus)

Abstract

Control by using disturbance observer is one of the widely recognized servomotor robust control techniques. It is generally known that higher robustness is achieved by higher bandwidth of the low-pass filter, which is used in the disturbance observer. However, the control engineers in practice face problems with realization of the high bandwidth filter. It was considered that the high frequency noise, which is amplified by the time derivative in the observer, causes instability. However, in our paper we show that the vibration and instability of the control system are rather caused by inappropriate sampling time than by the generated noise. We study both, the low pass filter and the disturbance observer in discrete time, and give the guidelines to set the filter's cut-off frequency, nominal parameters of the observer, and gain of the speed loop controller, all in relation to the sampling time, to achieve stable and non-vibrational response. Results are verified by simulation and experiments.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages390-395
Number of pages6
Publication statusPublished - 2002
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

Fingerprint

Low pass filters
Sampling
Bandwidth
Servomotors
Cutoff frequency
Robust control
Derivatives
Control systems
Engineers
Controllers
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Godler, I., Honda, H., & Ohnishi, K. (2002). Design guidelines for disturbance observer's filter in discrete time. In International Workshop on Advanced Motion Control, AMC (pp. 390-395)

Design guidelines for disturbance observer's filter in discrete time. / Godler, Ivan; Honda, Hideki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2002. p. 390-395.

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

Godler, I, Honda, H & Ohnishi, K 2002, Design guidelines for disturbance observer's filter in discrete time. in International Workshop on Advanced Motion Control, AMC. pp. 390-395, 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia, 02/7/3.
Godler I, Honda H, Ohnishi K. Design guidelines for disturbance observer's filter in discrete time. In International Workshop on Advanced Motion Control, AMC. 2002. p. 390-395
Godler, Ivan ; Honda, Hideki ; Ohnishi, Kouhei. / Design guidelines for disturbance observer's filter in discrete time. International Workshop on Advanced Motion Control, AMC. 2002. pp. 390-395
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