標題: Rejection of limit cycles induced from disturbance observers in motion control
作者: Horng, Rong-Hwang
Chou, Heng-Lung
Lee, An-Chen
機械工程學系
Department of Mechanical Engineering
關鍵字: disturbance observer (DOB);limit cycle;linear-motor-driven motion system
公開日期: 1-十二月-2006
摘要: A disturbance observer (DOB) is generally introduced into motion control systems to eliminate the unwanted disturbance and plant uncertainty. Due to the quantization error from the sensors and D/A converter, DOB-based controller might generate limit cycles which severely decreases positioning accuracy as the system reaches steady-state positioning. This paper presents a sufficient condition for removing limit cycles and explores the condition to design controller parameters. In addition, since the parameters based on the condition make the system sluggish, an adaptive mechanism is introduced not only to maintain the system performance but also to eliminate limit cycles. The experimental results validate the analytical results and also illustrate the effectiveness of the proposed method.
URI: http://dx.doi.org/10.1109/TIE.2006.885119
http://hdl.handle.net/11536/11462
ISSN: 0278-0046
DOI: 10.1109/TIE.2006.885119
期刊: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume: 53
Issue: 6
起始頁: 1770
結束頁: 1780
顯示於類別:期刊論文


文件中的檔案:

  1. 000242636300002.pdf