An approach to acceleration estimation using FPGA

Hiroyuki Tanaka, Hiroaki Nishi, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

the field of motion control, robustness is an important issue to accomplish desired motion of robots. To achieve robust motion control, acceleration control has been studied. In the acceleration control, disturbance observer is used to estimate and compensate disturbance force applied to an actuator. In the disturbance observer, the disturbance is estimated with calculating acceleration based on velocity/position information, and the estimated disturbance is obtained through a low-pass filter. To achieve accurate disturbance estimation, higher cut-off frequency of the low-pass filter and exact acceleration information are required. To set higher cut-off frequency of the low-pass filter, shortening sampling period is an effective method using FPGA as a motion control processor. However, short sampling period generally deteriorates the resolution of the velocity/acceleration information. This means that the estimated disturbance can include large error. In this paper, an acceleration estimation method is proposed to improve the resolution of acceleration in systems whose sampling period is very short. The validity of the proposed method is demonstrated by simulation and experimental results.

本文言語English
ホスト出版物のタイトル2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
ページ1959-1964
ページ数6
DOI
出版ステータスPublished - 2008 12 29
イベント2008 IEEE International Symposium on Industrial Electronics, ISIE 2008 - Cambridge, United Kingdom
継続期間: 2008 6 302008 7 2

出版物シリーズ

名前IEEE International Symposium on Industrial Electronics

Other

Other2008 IEEE International Symposium on Industrial Electronics, ISIE 2008
国/地域United Kingdom
CityCambridge
Period08/6/3008/7/2

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学

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