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An Enhanced Periodic-Disturbance Observer for Improving Aperiodic-Disturbance Suppression Performance

An Enhanced Periodic-Disturbance Observer for Improving Aperiodic-Disturbance Suppression Performance

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門(英文)

発行日: 2019/03/01

タイトル(英語): An Enhanced Periodic-Disturbance Observer for Improving Aperiodic-Disturbance Suppression Performance

著者名: Hisayoshi Muramatsu (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

著者名(英語): Hisayoshi Muramatsu (Department of System Design Engineering Keio University), Seiichiro Katsura (Department of System Design Engineering Keio University)

キーワード: disturbance observer,motion control,periodic disturbance,periodic-disturbance observer,time-delay element

要約(英語): Repetitive operations are widely conducted by automatic machines in the industry, and the periodic disturbances induced by such operations are a concern as they hinder the proper functioning of these machines. A periodic-disturbance observer (PDOB) has been studied previously to compensate for the periodic disturbances. This observer is a two-degree-of-freedom controller based on the observer structure estimating a periodic disturbance. However, the PDOB does not take aperiodic disturbances into account because it focuses only on periodic disturbances. This paper proposes an enhanced PDOB to enable the PDOB also to compensate for aperiodic disturbances. The enhanced PDOB is constructed by combining the PDOB and disturbance observer. Experiments were conducted using a multi-axis manipulator to compare the PDOB with the enhanced PDOB. The experimental results demonstrate the validity of the proposed method.

本誌: IEEJ Journal of Industry Applications Vol.8 No.2 (2019) Special Issue Ⅰ on “Motion Control and its Related Technologies” Special Issue Ⅱ on “IPEC-Niigata 2018”

本誌掲載ページ: 177-184 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/8/2/8_177/_article/-char/ja/

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