細粒度並列処理を用いた 3 自由度制御の実現

Hiroki Kurumatani, Seiichiro Katsura

研究成果: Article

抜粋

The paper reports a sprout of 3-degree-of-freedom (DOF) control. The limitation of feedback control including 2-DOF control has been raised for a long time; however, a suitable control theory for overcoming those limitations has still not been formulated. An underlying reason is that the disturbance-suppression performance and noise sensitivity cannot be decoupled. Several researches have tried to tackle this problem using a hardware approach, as a noise level depends on a hardware configuration. It should be noted that the hardware design expands spatiotemporal resolution of a system. This approach helps in reducing noise, namely, it works as the 3rd-DOF for a control system. Therefore, an improvement in the hardware design could be a new angle for solving a mixed-sensitivity problem. This paper quantitatively presents the relation between noise-reduction performance and the spatiotemporal resolution, and provides a foothold for the 3-DOF control.

寄稿の翻訳されたタイトルRealization of 3-degree-of-freedom control using fine-grain parallel processing
元の言語Japanese
ページ(範囲)220-229
ページ数10
ジャーナルieej transactions on industry applications
140
発行部数3
DOI
出版物ステータスPublished - 2020 1 1

Keywords

  • FPGA
  • Motion control
  • Robust control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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