Realization of Acceleration Control Using Multirate Sampling Method
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- Mizuochi Mariko
- Keio University Dep. of System Design Eng.
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- Tsuji Toshiaki
- Keio University Dep. of System Design Eng.
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- Nishi Hiroaki
- Keio University Dep. of System Design Eng.
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- Ohnishi Kouhei
- Keio University Dep. of System Design Eng.
Bibliographic Information
- Other Title
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- マルチレートサンプリング手法を用いた加速度制御系の実現
- マルチレートサンプリング シュホウ オ モチイタ カソクド セイギョケイ ノ ジツゲン
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Abstract
This paper focuses on realization of high performance motion control based on acceleration control. Characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. It is then described that a higher sampling frequency is required for acquisition of output information than for update of the input value. Based on the consideration, a new multirate sampling method for the acceleration control system is proposed. Disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of the system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 126 (3), 261-268, 2006
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679635673216
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- NII Article ID
- 10017276486
- 30011600256
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 7857830
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed