Abstract
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.
| Original language | English |
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| Pages | 229-234 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2006 Nov 21 |
| Event | 9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey Duration: 2006 Mar 27 → 2006 Mar 29 |
Other
| Other | 9th IEEE International Workshop on Advanced Motion Control, 2006 |
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| Country/Territory | Turkey |
| City | Istanbul |
| Period | 06/3/27 → 06/3/29 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering