2020年9月
Periodic/Aperiodic Motion Control Using Periodic/Aperiodic Separation Filter
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- ,
- 巻
- 67
- 号
- 9
- 開始ページ
- 7649
- 終了ページ
- 7658
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1109/TIE.2019.2942535
- 出版者・発行元
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
© 1982-2012 IEEE. Motion control is a fundamental technique used in automated mechanical systems. Classically, velocity, force, and impedance are controlled in motion control systems, but simultaneous control is difficult. This article proposes periodic/aperiodic (P/A) motion control based on periodicity and aperiodicity of motion. The P/A motion control separately applies different control methods to P/A motions using P/A velocity and P/A force, which are extracted using a periodic/aperiodic separation filter (PASF) from velocity and force. Accordingly, six types of P/A motion controls are constructed in this article, which correspond to different combinations of the P/A velocity, P/A force, and P/A impedance controls. To construct the P/A motion control systems, acceleration control based on a disturbance observer is used. The ACS, which rejects disturbances, enables the P/A motion control design to ignore disturbances. The experiments were conducted to validate the six P/A motion controls, which simultaneously realized two P/A motion control objectives.
- リンク情報
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- DOI
- https://doi.org/10.1109/TIE.2019.2942535
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000536291000049&DestApp=WOS_CPL
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85085287759&origin=inward 本文へのリンクあり
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85085287759&origin=inward
- ID情報
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- DOI : 10.1109/TIE.2019.2942535
- ISSN : 0278-0046
- eISSN : 1557-9948
- SCOPUS ID : 85085287759
- Web of Science ID : WOS:000536291000049