Time delay compensation method based on reflected wave rejection

Eiichi Saito, Roberto Oboe, Seiichiro Katsura

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Several time delay compensation methods for teleoperation systems have been researched for a long time (e.g. Smith predictors, communication disturbance observers, etc). Based on the communication disturbance observer, the authors have proposed a vibration suppression scheme for resonant systems, based on reflected wave rejection and a wave compensator. From this method, it is found that vibration in resonant system can be suppressed by making use of a time delay compensation method and it is observed that a reflected wave induces vibrations. Taking a dual approach, this paper proposes a time delay compensation method, based on our previously developed reflected wave rejection, used for the vibration suppression in the resonant system. Firstly, a wave representation of time delay system is derived and an equivalence of wave and time delay systems is clarified. It is also clarified that a cause of vibration in the time delay system is a reflected wave as well as in a resonant system. Finally, it is shown how the reflected wave rejection can be seems as a time delay compensation method, to be used in time delay systems. The validity of the proposed method is verified by the experimental results.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4276-4281
ページ数6
DOI
出版ステータスPublished - 2013 12 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11 102013 11 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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