A guide to design disturbance observer based motion control systems

Emre Sariyildiz, Kouhei Ohnishi

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools. The paper proposes a new practical robustness constraint, which improve the robustness at high frequencies, on the bandwidth of a DOB and nominal inertia. Although increasing the bandwidth of a DOB and nominal inertia improves the performance and stability, they are limited by the robustness constraint. Besides, a novel stability analysis method is proposed for reaction force observer (RFOB) based robust force control systems. It is shown that not only the performance, but also the stability changes significantly by the imperfect identification of inertia and torque coefficient. The robustness and stability of a DOB based motion control system are improved by proposing new design tools. The validity of the proposals are verified by experimental results.

本文言語English
ホスト出版物のタイトル2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
出版社IEEE Computer Society
ページ2483-2488
ページ数6
ISBN(印刷版)9781479927050
DOI
出版ステータスPublished - 2014 1 1
イベント7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014 - Hiroshima, Japan
継続期間: 2014 5 182014 5 21

出版物シリーズ

名前2014 International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014

Other

Other7th International Power Electronics Conference, IPEC-Hiroshima - ECCE Asia 2014
国/地域Japan
CityHiroshima
Period14/5/1814/5/21

ASJC Scopus subject areas

  • 電子工学および電気工学

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