Wideband motion control by acceleration disturbance observer

Kouhei Irie, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

Motion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel multi-sensor based acceleration disturbance observer (MADO). The proposed MADO uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1kHz. To cover DC range, the second order derivative of position is integrated. The integrated acceleration value realizes lower observation noise and higher bandwidth than a conventional estimated acceleration. Thus, the proposed MADO can get at wide frequency response than conventional one. And, it made dramatically more responsive a position control and a force control. Results are verified by simulation.

本文言語English
ホスト出版物のタイトルEPE-PEMC 2006
ホスト出版物のサブタイトル12th International Power Electronics and Motion Control Conference, Proceedings
ページ361-366
ページ数6
DOI
出版ステータスPublished - 2007
外部発表はい
イベントEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
継続期間: 2006 8 302006 9 1

出版物シリーズ

名前EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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