Design guidelines for disturbance observer's filter in discrete time

Ivan Godler, Hideki Honda, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages390-395
Number of pages6
Publication statusPublished - 2002 Dec 1
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

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Godler, I., Honda, H., & Ohnishi, K. (2002). Design guidelines for disturbance observer's filter in discrete time. 390-395. Paper presented at 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia.