外乱オブザーバと既約分解表現を用いたロバスト安定な2自由度制御系の一設計法 [in Japanese] Design Method of Robust Stable Two-Degrees-of-Freedom Control System Based on Disturbance Observer and Coprime Factorization [in Japanese]
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In order to get a high performance and a high accuracy for servo system in several industrial applications, a servo motor system requires a realization of robust control for wide speed range. The conventional robust control system based on disturbance observer can easily design a reference response and a disturbance rejection response, but it often does not consider a robust stable condition. In order to overcome this problem, this paper proposes a new two-degrees-of-freedom control system based on disturbance observer and coprime factorization. The proposed two-degrees-of-freedom control system considers a robust stable condition and a disturbance rejection response systematically. If the frequency band of disturbance rejection is narrow, the proposed system satisfies the robust stability condition<br>In this paper, the robust speed servo system of DC servo motor is constructed by the proposed two-degrees-of-freedom control system. The experimental results show that the proposed speed servo system well regulates a motor speed robustly for wide speed range, in comparison with the conventional robust speed servo systems.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 117(5), 572-578, 1997-05
The Institute of Electrical Engineers of Japan