An Adaptive Periodic-Disturbance Observer for Periodic-Disturbance Suppression

Hisayoshi Muramatsu, Seiichiro Katsura

研究成果: Article査読

56 被引用数 (Scopus)

抄録

Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time-delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller and the DOB. Practical performances are validated in experiments using a multiaxis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time-delay element.

本文言語English
論文番号8288655
ページ(範囲)4446-4456
ページ数11
ジャーナルIEEE Transactions on Industrial Informatics
14
10
DOI
出版ステータスPublished - 2018 10月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 情報システム
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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