Disturbance observer-based motion control of direct drive motors

Simple and high-performance path tracking control and force control based on an acceleration control are proposed. To realize the acceleration control, disturbance feedback is necessary. The disturbance observer whose inputs are a current reference to the power converter and a position signal by simple computation works as if it were a disturbance detector. The control poles of the observer are varied in accordance with the velocity of the motor for precise positioning. The proposed method was applied to the linear synchronous motor, which is used for direct drive linear motor, and was tested. Results are presented. >

[1]  B. Gopinath.  On the control of linear multiple input-output systems , 1971 .

[2]  J. Meditch,et al.  Observers for systems with unknown and inaccessible inputs , 1973, CDC 1973.

[3]  J. Y. S. Luh,et al.  Conventional controller design for industrial robots — A tutorial , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Warren P. Seering,et al.  On dynamic models of robot force control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[5]  Kouhei Ohnishi,et al.  Bilateral Robot Hand Based On Estimated Force Feedback , 1987, Other Conferences.

[6]  Kouhei Ohnishi,et al.  A Robust decentralized joint control based on interference estimation , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[7]  Toshiyuki Murakami,et al.  An approach to collision detection and recovery motion in industrial robot , 1989, 15th Annual Conference of IEEE Industrial Electronics Society.

[8]  T. Umeno,et al.  Generalized robust servosystem design based on the parametrization of two degrees of freedom controllers , 1989, 20th Annual IEEE Power Electronics Specialists Conference.

[9]  Kouhei Ohnishi,et al.  Control of robotic manipulators by joint acceleration controller , 1989, 15th Annual Conference of IEEE Industrial Electronics Society.

[10]  Kouhei Ohnishi,et al.  Force feedback control of robot manipulator by the acceleration tracing orientation method , 1990 .

[11]  Nobuyuki Matsui,et al.  DSP-Based High Precision Torque Control of Permanent Magnet DD Motor , 1990 .