Design of acceleration control system considering current dynamics

Hiroyuki Tanaka, Kouhei Ohnishi, Hiroaki Nishi

研究成果: Conference contribution

抄録

Sampling periods in digital control systems have been shortened thanks to the development of both hardware and software technologies. In recent years, FPGA (Field Programmable Gate Array) has been applied to robot systems to achieve hard real-time system with short sampling periods. Due to the short sampling periods, the effect of the time quantization has been reduced. Some other hardware restrictions, however, become critical issue. In this paper, current dynamics in motor driver is considered as the hardware restriction. The current response dynamics acts as a low-pass filter, and it can be the restrictions of performance improvement. In the proposed method, the dynamics is modeled as low-pass filter, and the modeled dynamics is compensated by a phase-lead compensator. The tracking performance in an acceleration control system is improved by the proposed method. The effectiveness of the proposed method is validated through simulations and experimental results.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Industrial Technology, ICIT 2009
DOI
出版ステータスPublished - 2009 7 17
イベント2009 IEEE International Conference on Industrial Technology, ICIT 2009 - Churchill, VIC, Australia
継続期間: 2009 2 102009 2 13

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2009 IEEE International Conference on Industrial Technology, ICIT 2009
国/地域Australia
CityChurchill, VIC
Period09/2/1009/2/13

ASJC Scopus subject areas

  • 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

フィンガープリント

「Design of acceleration control system considering current dynamics」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル