Multirate Sampling Method for Acceleration Control System
Multirate Sampling Method for Acceleration Control System
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DOI：
10.1109/isie.2005.1529176
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发表时间：
2005-06
影响因子：
7.7
通讯作者：
M. Mizuochi;T. Tsuji;K. Ohnishi
中科院分区：
文献类型：
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作者：
M. Mizuochi;T. Tsuji;K. Ohnishi
本文主要研究基于加速度控制的高性能运动控制的实现。干扰观测器被用来构造加速度控制系统。已知高采样频率对于提高性能是有效的。研究了加速度控制特性，讨论了系统性能与采样频率的关系。然后描述了对输出的高采样频率的需求。基于这些考虑，提出了一种新的加速度控制系统的多速率采样方法。在该方法中，输出采样周期被设置为短于输入采样周期，并且在每个输出采样周期执行控制计算。针对多采样率系统，重新设计了干扰观测器。通过稳定性分析验证了该方案的有效性。实验结果也验证了该方法的可行性及其对性能的影响
This paper focuses on the realization of high-performance motion control based on acceleration control. A disturbance observer is used to construct an acceleration control system. A high sampling frequency is known to be effective for improving the performance. Characteristics of acceleration control are investigated to discuss the relationship between the performance and a sampling frequency of the system. The needs for a high sampling frequency for an output are then described. Based on these considerations, a novel multirate sampling method for the acceleration control system is proposed. An output sampling period is set shorter than an input sampling period, and control calculation is executed at each output sampling period in the method. The disturbance observer is redesigned for application to the multirate system. Stability analysis is performed to verify the validity of the proposal. Feasibility of the proposed method and its influence on the performance are also verified by experimental results