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 language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Industrial Technology |
| DOIs | |
| Publication status | Published - 2009 |
| Event | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia Duration: 2009 Feb 10 → 2009 Feb 13 |
Other
| Other | 2009 IEEE International Conference on Industrial Technology, ICIT 2009 |
|---|---|
| Country | Australia |
| City | Churchill, VIC |
| Period | 09/2/10 → 09/2/13 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Science Applications
Cite this
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 proceeding › Conference contribution
}
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 -