Improvement of disturbance suppression based on disturbance observer

Mariko Mizuochi, Toshiaki Tsuji, Kouhei Ohnishi

研究成果: Paper査読

18 被引用数 (Scopus)

抄録

This research focuses on improvement of disturbance suppression even under existence of observation noise. Disturbance observer is an effective tool to estimate and compensate disturbance. There is a problem, however, that it cannot accomplish desired disturbance suppression when a large observation noise exists. In this research, a method with which influence of disturbance can be suppressed greatly even with a large observation noise is proposed. The authors focus on an LPF used in velocity calculation. The method is proposed based on the analysis on the characteristics and mechanism of disturbance suppression in disturbance observer with a focus on its cut-off frequencies. In the method, the cut-off frequency of disturbance observer is set higher than that for velocity calculation. Validity of the proposal was confirmed in theoretical analysis, simulation, and experiments.

本文言語English
ページ229-234
ページ数6
DOI
出版ステータスPublished - 2006 11月 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3月 272006 3月 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
国/地域Turkey
CityIstanbul
Period06/3/2706/3/29

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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