Improving Disturbance-Rejection Performance Based on an Equivalent-Input-Disturbance Approach

This paper presents a new method of improving the disturbance-rejection performance of a servo system based on the estimation of an equivalent input disturbance (EID). First, the concept of EID is defined. Next, the configuration of an improved servo system employing the new disturbance-estimation method is described. Then, a method of designing a control law employing a disturbance estimate is explained. Finally, the speed control of a rotational control system is used to demonstrate the validity of the method, and some design guidelines are presented.

[1]  Takamasa Hori,et al.  Control of redundant manipulators considering order of disturbance observer , 2000, IEEE Trans. Ind. Electron..

[2]  Kouhei Ohnishi,et al.  Transmission of force sensation by environment quarrier based on multilateral control , 2007, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005..

[3]  B. Anderson,et al.  Optimal control: linear quadratic methods , 1990 .

[4]  J. Doyle,et al.  Robust and optimal control , 1995, Proceedings of 35th IEEE Conference on Decision and Control.

[5]  Huei Peng,et al.  Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems , 2002 .

[6]  R. Patton,et al.  Optimal filtering for systems with unknown inputs , 1998, IEEE Trans. Autom. Control..

[7]  K. Hunt APPLIED OPTIMAL CONTROL AND ESTIMATION : DIGITAL DESIGN AND IMPLEMENTATION , 1993 .

[8]  H. Kimura A new approach to the perfect regulation and the bounded peaking in linear multivariable control systems , 1981 .

[9]  Kouhei Ohnishi,et al.  Estimation, identification, and sensorless control in motion control system , 1994 .

[10]  Yoichi Hori,et al.  Vibration suppression in 2- and 3-mass system based on the feedback of imperfect derivative of the estimated torsional torque , 1996, IEEE Trans. Ind. Electron..

[11]  H. Kwakernaak,et al.  The maximally achievable accuracy of linear optimal regulators and linear optimal filters , 1972 .

[12]  Yasuhiro Ohyama,et al.  A new approach to the estimation and rejection of disturbances in servo systems , 2005, IEEE Transactions on Control Systems Technology.

[13]  Faa-Jeng Lin,et al.  Robust Fuzzy Neural Network Sliding-Mode Control for Two-Axis Motion Control System , 2006, IEEE Transactions on Industrial Electronics.

[14]  Martin J. Corless,et al.  State and Input Estimation for a Class of Uncertain Systems , 1998, Autom..

[15]  L. Hunt,et al.  Noncausal inverses for linear systems , 1996, IEEE Trans. Autom. Control..

[16]  Yoichi Hori,et al.  Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators , 1993, IEEE Trans. Ind. Electron..

[17]  Mingxuan Sun,et al.  Variable-structure repetitive control: a discrete-time strategy , 2005, IEEE Transactions on Industrial Electronics.

[18]  William S. Levine,et al.  The Control Handbook , 2005 .

[19]  Jeang-Lin Chang,et al.  Applying discrete-time proportional Integral observers for state and disturbance estimations , 2006, IEEE Trans. Autom. Control..

[20]  Yi Xiong,et al.  Sliding mode observer for nonlinear uncertain systems , 2001, IEEE Trans. Autom. Control..

[21]  Kemao Peng,et al.  Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System , 2007, IEEE Transactions on Industrial Electronics.

[22]  Toshio Fukuda,et al.  A new nonlinear robust disturbance observer , 2000 .