Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing
Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing
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DOI：
10.1080/01691864.2014.899161
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发表时间：
2014-07
影响因子：
2
通讯作者：
Shanhai Jin;Ryo Kikuuwe-;Motoji Yamamoto
中科院分区：
文献类型：
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作者：
Shanhai Jin;Ryo Kikuuwe-;Motoji Yamamoto
在机电设备的位置控制中，速度反馈对于注入额外阻尼以避免所需轨迹周围的低频波动非常重要。在实践中，速度信号通常是通过光学编码器的位置信号的有限差分来获得的。然而，这种数值微分通过放大位置信号中包含的量化误差而产生高频噪声。结果，控制器可能会产生高频振动。本文提出了一种基于滑模和自适应加窗的新型降噪离散时间滤波器。所提出的滤波器是 Jin 等人提出的滑模滤波器的改进版本。 (2012)，其中包括自适应加窗，其窗口大小的确定方式与 Janabi-Sharifi 等人的离散时间自适应加窗微分器类似。 （2000）。然后将所提出的滤波器应用于机电设备的位置控制以改善速度反馈。实验结果表明，所提出的滤波器比之前的版本、Janabi-Sharifi 等人的微分器以及这两个滤波器的组合提供了更好的速度反馈。图解摘要
In position control of mechatronic devices, velocity feedback is important for injecting additional damping to avoid low-frequency fluctuation around desired trajectories. In practice, velocity signal is often obtained by finite difference of position signal from an optical encoder. However, such a numerical differentiation produces high-frequency noise by magnifying quantization error contained in the position signal. As a result, the controller may produce high-frequency vibration. This paper presents a new noise-reduction discrete-time filter based on sliding mode and adaptive windowing. The presented filter is an improved version of a sliding mode filter by Jin et al. (2012), with including adaptive windowing of which the window size is determined in a similar way to that of a discrete-time adaptive windowing differentiator by Janabi-Sharifi et al. (2000). The presented filter is then applied to a position control of a mechatronic device for improving velocity feedback. Experimental results show that the presented filter provides better velocity feedback than its previous version, Janabi-Sharifi et al.’s differentiator, and combinations of these two filters. Graphical Abstract