Perfect tracking digital motion control based on two-degree-of-freedom multirate feedforward control
Perfect tracking digital motion control based on two-degree-of-freedom multirate feedforward control
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基于二自由度多速率前馈控制的完美跟踪数字运动控制
DOI：
10.1109/amc.1998.743557
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
A. Kawamura
中科院分区：
文献类型：
--
作者：
Hiroshi Fujimoto;A. Kawamura
本文提出了一种基于多采样率控制的理想跟踪控制方法，该方法引入了二自由度控制和互质分解的概念。该方法假定通常的单采样率鲁棒反馈控制器如干扰观测器或H/sub /spl infin//控制器已经存在，而前馈控制器则通过多采样率采样控制得到。该方法的优点是：（1）控制器的设计可以不考虑离散时间对象的不稳定零点;（2）对象的状态在每个采样点都与期望轨迹相匹配;（3）鲁棒反馈控制器保证了高鲁棒性能。一个说明性的例子，使用直流伺服的位置控制，这种方法的优点是证明在时域和频域。
In this paper a novel perfect tracking control method based on the multirate sampling control is proposed in which the concepts of the two-degree-of-freedom control and coprime factorization are employed. In the proposed method it is assumed that the usual single-rate robust feedback controller such as the disturbance observer or the H/sub /spl infin// controller already exists, and the feedforward controller is obtained by using the multirate sampling control. The advantages of the proposed method are that (1) the controller can be designed without considering the unstable zeros of the discrete-time plant; (2) the states of the plant match the desired trajectories at every sampling point; (3) high robust performance is assured by the robust feedback controller. An illustrative example of position control using a DC servo is presented, and the advantages of this approach are demonstrated both in the time and frequency domain.