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Design of Disturbance Observer Based on Structural Analysis

김봉근   (University of California at Berkeley, 기계공학과  );
  • 초록

    Disturbance observer (DOB) has been studied extensively and applied to many motion control fields during the last decades, but relatively few studies have been devoted to the development of analytic, systematic design methods for DOB itself, This paper thus aims to provide an analytic, systematic design method for DOB. To do this, DOB is structurally analyzed and the generalized disturbance compensation framework named robust internal-loop compensator (RIC) is introduced. Through this, the inherent equivalence between DOB and RIC is found, and the mixed sensitivity optimization problem of DOB is solved. Q-filter design is completely separated from the mixed sensitivity optimization problems of DOB although the proposed method has implicit .elation with Q-filter. Also, although the Q-fille. is separately designed with sensitivity function, the proposed DOB framework has the exactly same characteristic as the original DOB.


  • 주제어

    disturbance observer .   robust internal-loop compensator .   mixed sensitivity optimization .   Q-filter.  

  • 참고문헌 (6)

    1. B. K. Kim and W. K. Chung, 'Perfomance predictable design of robust motion controllers for high-precision servo systems', Proc. 2001 ACC, pp. 2249-2254, 2001 
    2. J. C. Doyle, B. A. Francis, and A. R. Tannenaum, Feedback Control Theory, Macmillan Publishin Co., 1992 
    3. H. S. Lee and M. Tomizuka, 'Robust motion controller design for high-accuracy positioning systems', IEEE Trans. Indusrial Electronics, vol. 43, no. 1, pp. 48-55, 1996 
    4. K. Ohnishi, 'A new servo method in mecha-tronics', Trans. Japanese Society of Electrical Engineering, vol. 107-D, pp. 83-86, 1987 
    5. T. Umeno, T. Kaneko, and Y. Hori, 'Robust servosystem design with two degees of feedom and its appliation to novel motion control of robot manipulators', IEEE Trans. Industrial Electronics, vol. 40, no. 5, pp. 473-485, 1993 
    6. B. Yao, M. Al-Majed, and M. Tomizuka, 'High perfomance robust motion control of machine tools: an adaptive robust control approach and comparative experiments', IEEE/ASME Trans. Mechatronics, vil. 2, no. 2, pp. 63-76, 1997 
  • 이 논문을 인용한 문헌 (1)

    1. Ha, Hong-Gon 2010. "Design of control system with two degrees of freedom based on the disturbance observer" 信號處理·시스템學會 論文誌 = Journal of the institute of signal processing and systems, 11(1): 74~79     

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