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査読

8 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号7529064
ページ(範囲)7607-7620
ページ数14
ジャーナルIEEE Transactions on Industrial Electronics
63
12
DOI
出版ステータスPublished - 2016 12月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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