Position control using an FPGA based on multirate acceleration control

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

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

4 Citations (Scopus)

Abstract

Acceleration control using a disturbance observer is a strategy of robust motion control. In the acceleration control, fast sampling rate is a key issue to improve the performance of robustness. By using FPGAs, faster sampling rates can be achieved than those using PCs. The sampling rates of the systems using FPGAs can be faster than the frequency of PWM wave. In that case, the performance of the acceleration control is not improved as expected. The frequency of the PWM wave becomes a performance limitation of the system. In this paper, a position control system based on acceleration control using multirate sampling method is implemented into an FPGA to overcome the limitations. In these multirate systems, the sampling rates of the system output and control calculations are faster than that of the system input. Experimental results show that the robustness of the system can be improved, even though the sampling rates of the system output and the control calculations are faster than the PWM frequency by using the multirate sampling method.

Original languageEnglish
Title of host publicationProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007
DOIs
Publication statusPublished - 2007 Dec 1
Event4th IEEE International Conference on Mechatronics, ICM 2007 - Kumamoto, Japan
Duration: 2007 May 82007 May 10

Publication series

NameProceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007

Other

Other4th IEEE International Conference on Mechatronics, ICM 2007
CountryJapan
CityKumamoto
Period07/5/807/5/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Tanaka, H., Ohnishi, K., & Nishi, H. (2007). Position control using an FPGA based on multirate acceleration control. In Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007 [4280033] (Proceedings of the 2007 4th IEEE International Conference on Mechatronics, ICM 2007). https://doi.org/10.1109/ICMECH.2007.4280033