Design of acceleration control system considering current dynamics

Hiroyuki Tanaka; Kouhei Ohnishi; Hiroaki Nishi

doi:10.1109/ICIT.2009.4939587

Design of acceleration control system considering current dynamics

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOIs	https://doi.org/10.1109/ICIT.2009.4939587
Publication status	Published - 2009 Jul 17
Event	2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia Duration: 2009 Feb 10 → 2009 Feb 13

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology

Other

Other	2009 IEEE International Conference on Industrial Technology, ICIT 2009
Country	Australia
City	Churchill, VIC
Period	09/2/10 → 09/2/13

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/ICIT.2009.4939587

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

2009 IEEE International Conference on Industrial Technology, ICIT 2009. 2009. 4939587 (Proceedings of the IEEE International Conference on Industrial Technology).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tanaka, H, Ohnishi, K & Nishi, H 2009, Design of acceleration control system considering current dynamics. in 2009 IEEE International Conference on Industrial Technology, ICIT 2009., 4939587, Proceedings of the IEEE International Conference on Industrial Technology, 2009 IEEE International Conference on Industrial Technology, ICIT 2009, Churchill, VIC, Australia, 09/2/10. https://doi.org/10.1109/ICIT.2009.4939587

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