Robust digital tracking controller design for high-speed positioning systems-a new design approach and implementation techniques

H. Kobayashi, S. Endo, S. Kobayashi, C. Kempf
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引用次数: 5

Abstract

This paper offers extensions to a previously proposed and implemented robust digital tracking controller design for a high-speed positioning system. The previous design exhibited excellent tracking performance in spite of friction and parameter variations in the plant, but required the use of a high performance CPU and a high-resolution feedback encoder. In this paper, a new discrete-time design method is proposed to relax these requirements. Experimental results show that similar levels of tracking performance can be achieved at slower sampling rates. Further, difficulties associated with controller parameter scaling are reduced. Finally, sensitivity to low-amplitude high-frequency limit cycles due to encoder quantizing errors are reduced in the new design.
高速定位系统鲁棒数字跟踪控制器设计——一种新的设计方法和实现技术
本文对先前提出并实现的用于高速定位系统的鲁棒数字跟踪控制器设计进行了扩展。以前的设计表现出优异的跟踪性能,尽管摩擦和参数变化的工厂,但需要使用高性能的CPU和高分辨率的反馈编码器。本文提出了一种新的离散时间设计方法来放宽这些要求。实验结果表明,在较低的采样率下,可以达到相似的跟踪性能水平。此外,减少了与控制器参数缩放相关的困难。最后,由于编码器量化误差,新设计降低了对低频高频极限环的灵敏度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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