Design guidelines for disturbance observer's filter in discrete time

Ivan Godler, Hideki Honda, Kouhei Ohnishi

研究成果: Paper査読

54 被引用数 (Scopus)

抄録

Control by using disturbance observer is one of the widely recognized servomotor robust control techniques. It is generally known that higher robustness is achieved by higher bandwidth of the low-pass filter, which is used in the disturbance observer. However, the control engineers in practice face problems with realization of the high bandwidth filter. It was considered that the high frequency noise, which is amplified by the time derivative in the observer, causes instability. However, in our paper we show that the vibration and instability of the control system are rather caused by inappropriate sampling time than by the generated noise. We study both, the low pass filter and the disturbance observer in discrete time, and give the guidelines to set the filter's cut-off frequency, nominal parameters of the observer, and gain of the speed loop controller, all in relation to the sampling time, to achieve stable and non-vibrational response. Results are verified by simulation and experiments.

本文言語English
ページ390-395
ページ数6
出版ステータスPublished - 2002
イベント7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
継続期間: 2002 7月 32002 7月 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
国/地域Slovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 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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