Time delay compensation using equivalent elastic force feedback

Eiichi Saito, Seiichiro Katsura

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper proposes a novel time-delay compensation based on the feedback of an elastic force from a wave system. In the previous research, the authors derived wave representation of a time-delay system and showed that there is equivalence between a resonant system, which is expressed by the wave equation, and a time-delay system: both systems consist of a position-input system and a wave-transmission system. Considering the above equivalence, we can infer that the cause of vibrations in the time-delay system is the robustness of the position-input system against the wave-transmission system, as in the case of the resonant system. To reduce the robustness, the feedback of an equivalent elastic force, which is derived from the wave representation, is introduced according to the concept of a resonant ratio control, which is one of vibration control method on a two-mass resonant system. Because the feedback of the elastic force can reduce the equivalent mass of the position-input system, the vibrations due to the time delay are suppressed. The disturbance-suppression performance of the proposed method is superior to that of a Smith predictor and a communication disturbance observer because the proposed method can maintain the feedback characteristic. The validity of the proposed method is confirmed by simulation and experimental results.

Original languageEnglish
Pages (from-to)688-695
Number of pages8
JournalIEEJ Journal of Industry Applications
Volume4
Issue number6
DOIs
Publication statusPublished - 2015

Fingerprint

Time delay
Feedback
Wave transmission
Vibration control
Wave equations
Compensation and Redress
Communication

Keywords

  • Motion control
  • Resonant system
  • Time delay compensation
  • Wave equation

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Time delay compensation using equivalent elastic force feedback. / Saito, Eiichi; Katsura, Seiichiro.

In: IEEJ Journal of Industry Applications, Vol. 4, No. 6, 2015, p. 688-695.

Research output: Contribution to journalArticle

@article{2fdbfdedb6ff442286246e5ae7522e5a,
title = "Time delay compensation using equivalent elastic force feedback",
abstract = "This paper proposes a novel time-delay compensation based on the feedback of an elastic force from a wave system. In the previous research, the authors derived wave representation of a time-delay system and showed that there is equivalence between a resonant system, which is expressed by the wave equation, and a time-delay system: both systems consist of a position-input system and a wave-transmission system. Considering the above equivalence, we can infer that the cause of vibrations in the time-delay system is the robustness of the position-input system against the wave-transmission system, as in the case of the resonant system. To reduce the robustness, the feedback of an equivalent elastic force, which is derived from the wave representation, is introduced according to the concept of a resonant ratio control, which is one of vibration control method on a two-mass resonant system. Because the feedback of the elastic force can reduce the equivalent mass of the position-input system, the vibrations due to the time delay are suppressed. The disturbance-suppression performance of the proposed method is superior to that of a Smith predictor and a communication disturbance observer because the proposed method can maintain the feedback characteristic. The validity of the proposed method is confirmed by simulation and experimental results.",
keywords = "Motion control, Resonant system, Time delay compensation, Wave equation",
author = "Eiichi Saito and Seiichiro Katsura",
year = "2015",
doi = "10.1541/ieejjia.4.688",
language = "English",
volume = "4",
pages = "688--695",
journal = "IEEJ Journal of Industry Applications",
issn = "2187-1094",
publisher = "The Institute of Electrical Engineers of Japan",
number = "6",

}

TY - JOUR

T1 - Time delay compensation using equivalent elastic force feedback

AU - Saito, Eiichi

AU - Katsura, Seiichiro

PY - 2015

Y1 - 2015

N2 - This paper proposes a novel time-delay compensation based on the feedback of an elastic force from a wave system. In the previous research, the authors derived wave representation of a time-delay system and showed that there is equivalence between a resonant system, which is expressed by the wave equation, and a time-delay system: both systems consist of a position-input system and a wave-transmission system. Considering the above equivalence, we can infer that the cause of vibrations in the time-delay system is the robustness of the position-input system against the wave-transmission system, as in the case of the resonant system. To reduce the robustness, the feedback of an equivalent elastic force, which is derived from the wave representation, is introduced according to the concept of a resonant ratio control, which is one of vibration control method on a two-mass resonant system. Because the feedback of the elastic force can reduce the equivalent mass of the position-input system, the vibrations due to the time delay are suppressed. The disturbance-suppression performance of the proposed method is superior to that of a Smith predictor and a communication disturbance observer because the proposed method can maintain the feedback characteristic. The validity of the proposed method is confirmed by simulation and experimental results.

AB - This paper proposes a novel time-delay compensation based on the feedback of an elastic force from a wave system. In the previous research, the authors derived wave representation of a time-delay system and showed that there is equivalence between a resonant system, which is expressed by the wave equation, and a time-delay system: both systems consist of a position-input system and a wave-transmission system. Considering the above equivalence, we can infer that the cause of vibrations in the time-delay system is the robustness of the position-input system against the wave-transmission system, as in the case of the resonant system. To reduce the robustness, the feedback of an equivalent elastic force, which is derived from the wave representation, is introduced according to the concept of a resonant ratio control, which is one of vibration control method on a two-mass resonant system. Because the feedback of the elastic force can reduce the equivalent mass of the position-input system, the vibrations due to the time delay are suppressed. The disturbance-suppression performance of the proposed method is superior to that of a Smith predictor and a communication disturbance observer because the proposed method can maintain the feedback characteristic. The validity of the proposed method is confirmed by simulation and experimental results.

KW - Motion control

KW - Resonant system

KW - Time delay compensation

KW - Wave equation

UR - http://www.scopus.com/inward/record.url?scp=85010026903&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85010026903&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.4.688

DO - 10.1541/ieejjia.4.688

M3 - Article

AN - SCOPUS:85010026903

VL - 4

SP - 688

EP - 695

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 6

ER -