A General Framework for Designing SISO-Based Motion Controller With Multiple Sensor Feedback
A General Framework for Designing SISO-Based Motion Controller With Multiple Sensor Feedback
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DOI：
10.1109/tie.2016.2597133
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发表时间：
2016-12
影响因子：
7.7
通讯作者：
A. Suzumura;Y. Fujimoto;T. Murakami;R. Oboe
中科院分区：
文献类型：
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作者：
A. Suzumura;Y. Fujimoto;T. Murakami;R. Oboe
本文提出了基于单输入和单输出的系统的 N 自由度 (N-DoF) 控制。这种方法缓解了水床效应，限制了使用多个传感器抑制干扰和噪声的能力。介绍了系统控制系统的设计流程和标称稳定条件。然后，使用带有编码器和加速度计的电机系统的仿真和实验，将 N 自由度控制与经典的二自由度控制以及卡尔曼滤波器进行比较。结果表明，N-DoF 控制同时实现了增强的扰动和振荡抑制性能。此外，将N-DoF控制应用于两质量系统并通过数值模拟进行验证。介绍了其特点并与几种传统方法进行了比较。结果表明，N-DoF 控制融合了其他方法的所有特征，并展示了其扰动和振动抑制能力。
This paper proposes N-degree-of-freedom (N-DoF) control for single-input and single-output based systems. This method relaxes the water-bed effect, which limits the capacity to suppress disturbances and noise using multiple sensors. The system's design procedure for the control system and nominal stability conditions are introduced. N-DoF control is then compared with classical two-DoF control and with Kalman filter using simulations and experiments of motor systems with an encoder and an accelerometer. The results indicate that N-DoF control achieves an enhanced disturbance and an oscillation suppressing performance simultaneously. Moreover, N-DoF control is applied to two-mass systems and verified by using numerical simulation. The characteristics are introduced and compared with several conventional approaches. The results suggest that N-DoF control incorporates all the characteristics of the other methods, and its disturbance and vibration suppression capability is demonstrated.