操作量飽和を考慮したディジタルロバスト速度サーボ系の一構成法 [in Japanese] Design Method of Digtal Robust Speed Servo System Considering Output Saturation [in Japanese]
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When a robust servo system having an integral element has a large error input, it often has the windup phenomena caused by output saturation. It is very difficult for a strictly proper and high order controller to avoid having the windup phenomena caused by output saturation. This paper newly proposes the digital robust speed servo system with the complete consideration algorithm of output saturation. The proposed algorithm completely considers the output saturation of robust speed controller connected to PI current controller in series. Moreover, this method can apply to both PI speed controller and <i>H</i><sup>∞</sup> speed controller. The experimental results show that the robust speed servo system having the proposed algorithm has a good and stable response for a large step speed command.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 119(1), 88-96, 1999-01
The Institute of Electrical Engineers of Japan