Wideband motion control by acceleration disturbance observer

Kouhei Irie, Seiichiro Katsura, Kiyoshi Ohishi

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

8 Citations (Scopus)

Abstract

Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel multi-sensor based acceleration disturbance observer (MADO). The proposed MADO uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1kHz. To cover DC range, the second order derivative of position is integrated. The integrated acceleration value realizes lower observation noise and higher bandwidth than a conventional estimated acceleration. Thus, the proposed MADO can get at wide frequency response than conventional one. And, it made dramatically more responsive a position control and a force control. Results are verified by simulation.

Original languageEnglish
Title of host publicationEPE-PEMC 2006
Subtitle of host publication12th International Power Electronics and Motion Control Conference, Proceedings
Pages361-366
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Publication series

NameEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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