Design of acceleration control system considering current dynamics

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

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

Abstract

Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions, however, become critical issue. In this paper, current dynamics in motor driver is considered as the hardware restriction. The current response dynamics acts as a low-pass filter, and it can be the restrictions of performance improvement. In the proposed method, the dynamics is modeled as low-pass filter, and the modeled dynamics is compensated by a phase-lead compensator. The tracking performance in an acceleration control system is improved by the proposed method. The effectiveness of the proposed method is validated through simulations and experimental results.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
Duration: 2009 Feb 102009 Feb 13

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
CountryAustralia
CityChurchill, VIC
Period09/2/1009/2/13

Fingerprint

Acceleration control
Low pass filters
Sampling
Hardware
Control systems
Digital control systems
Real time systems
Dynamic response
Field programmable gate arrays (FPGA)
Lead
Robots

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Tanaka, H., Ohnishi, K., & Nishi, H. (2009). Design of acceleration control system considering current dynamics. In Proceedings of the IEEE International Conference on Industrial Technology [4939587] https://doi.org/10.1109/ICIT.2009.4939587

Design of acceleration control system considering current dynamics. / Tanaka, Hiroyuki; Ohnishi, Kouhei; Nishi, Hiroaki.

Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939587.

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

Tanaka, H, Ohnishi, K & Nishi, H 2009, Design of acceleration control system considering current dynamics. in Proceedings of the IEEE International Conference on Industrial Technology., 4939587, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939587
Tanaka H, Ohnishi K, Nishi H. Design of acceleration control system considering current dynamics. In Proceedings of the IEEE International Conference on Industrial Technology. 2009. 4939587 https://doi.org/10.1109/ICIT.2009.4939587
Tanaka, Hiroyuki ; Ohnishi, Kouhei ; Nishi, Hiroaki. / Design of acceleration control system considering current dynamics. Proceedings of the IEEE International Conference on Industrial Technology. 2009.
@inproceedings{c1126e88eb2348c3821894663cde96b5,
title = "Design of acceleration control system considering current dynamics",
abstract = "Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions, however, become critical issue. In this paper, current dynamics in motor driver is considered as the hardware restriction. The current response dynamics acts as a low-pass filter, and it can be the restrictions of performance improvement. In the proposed method, the dynamics is modeled as low-pass filter, and the modeled dynamics is compensated by a phase-lead compensator. The tracking performance in an acceleration control system is improved by the proposed method. The effectiveness of the proposed method is validated through simulations and experimental results.",
author = "Hiroyuki Tanaka and Kouhei Ohnishi and Hiroaki Nishi",
year = "2009",
doi = "10.1109/ICIT.2009.4939587",
language = "English",
isbn = "1424435064",
booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",

}

TY - GEN

T1 - Design of acceleration control system considering current dynamics

AU - Tanaka, Hiroyuki

AU - Ohnishi, Kouhei

AU - Nishi, Hiroaki

PY - 2009

Y1 - 2009

N2 - Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions, however, become critical issue. In this paper, current dynamics in motor driver is considered as the hardware restriction. The current response dynamics acts as a low-pass filter, and it can be the restrictions of performance improvement. In the proposed method, the dynamics is modeled as low-pass filter, and the modeled dynamics is compensated by a phase-lead compensator. The tracking performance in an acceleration control system is improved by the proposed method. The effectiveness of the proposed method is validated through simulations and experimental results.

AB - Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions, however, become critical issue. In this paper, current dynamics in motor driver is considered as the hardware restriction. The current response dynamics acts as a low-pass filter, and it can be the restrictions of performance improvement. In the proposed method, the dynamics is modeled as low-pass filter, and the modeled dynamics is compensated by a phase-lead compensator. The tracking performance in an acceleration control system is improved by the proposed method. The effectiveness of the proposed method is validated through simulations and experimental results.

UR - http://www.scopus.com/inward/record.url?scp=67650330001&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=67650330001&partnerID=8YFLogxK

U2 - 10.1109/ICIT.2009.4939587

DO - 10.1109/ICIT.2009.4939587

M3 - Conference contribution

AN - SCOPUS:67650330001

SN - 1424435064

SN - 9781424435067

BT - Proceedings of the IEEE International Conference on Industrial Technology

ER -