A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback

Akihiro Suzumura, Yasutaka Fujimoto, Toshiyuki Murakami, Roberto Oboe

研究成果: Article

6 引用 (Scopus)

抜粋

This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.

元の言語English
記事番号7529064
ページ(範囲)7607-7620
ページ数14
ジャーナルIEEE Transactions on Industrial Electronics
63
発行部数12
DOI
出版物ステータスPublished - 2016 12 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

フィンガープリント A General Framework for Designing SISO-Based Motion Controller with Multiple Sensor Feedback' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用