Time delay compensation using equivalent elastic force feedback
Time delay compensation using equivalent elastic force feedback
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DOI：
10.1541/ieejjia.4.688
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发表时间：
2015-11
影响因子：
1.7
通讯作者：
E. Saito;S. Katsura
中科院分区：
文献类型：
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作者：
E. Saito;S. Katsura
提出了一种基于波动系统的弹性力反馈的时延补偿方法。在前人的研究中，作者推导了时滞系统的波动表示，证明了用波动方程表示的共振系统与时滞系统之间存在等价性：这两个系统都由位置输入系统和波传输系统组成。考虑到上述等价性，我们可以推断，时滞系统振动的原因是位置输入系统对波传输系统的鲁棒性，就像共振系统的情况一样。为了降低系统的鲁棒性，根据共振比控制的概念，引入了基于波动表示的等效弹性力反馈，这是双质量共振系统的振动控制方法之一。由于弹性力的反馈可以减小位置输入系统的等效质量，从而抑制了时滞引起的振动。与Smith预估器和通信干扰观测器相比，该方法能够保持反馈特性，具有更好的抗扰性能。仿真和实验结果验证了该方法的有效性。fi。
This paper proposes a novel time-delay compensation based on the feedback of an elastic force from a wave system. In the previous research, the authors derived wave representation of a time-delay system and showed that there is equivalence between a resonant system, which is expressed by the wave equation, and a time-delay system: both systems consist of a position-input system and a wave-transmission system. Considering the above equivalence, we can infer that the cause of vibrations in the time-delay system is the robustness of the position-input system against the wave-transmission system, as in the case of the resonant system. To reduce the robustness, the feedback of an equivalent elastic force, which is derived from the wave representation, is introduced according to the concept of a resonant ratio control, which is one of vibration control method on a two-mass resonant system. Because the feedback of the elastic force can reduce the equivalent mass of the position-input system, the vibrations due to the time delay are suppressed. The disturbance-suppression performance of the proposed method is superior to that of a Smith predictor and a communication disturbance observer because the proposed method can maintain the feedback characteristic. The validity of the proposed method is confirmed by simulation and experimental results.