Premium
Realization of acceleration control using multirate sampling method
Author(s) -
Mizuochi Mariko,
Tsuji Toshiaki,
Nishi Hiroaki,
Ohnishi Kouhei
Publication year - 2008
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20507
Subject(s) - acceleration , realization (probability) , control theory (sociology) , control engineering , sampling (signal processing) , control system , computer science , motion control , observer (physics) , control (management) , engineering , mathematics , artificial intelligence , telecommunications , physics , electrical engineering , statistics , classical mechanics , quantum mechanics , detector , robot
This paper focuses on the realization of high‐performance motion control based on acceleration control. The characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. This paper then describes that a higher sampling frequency is required for acquisition of output information than for updating the input value. Based on this idea, a new multirate sampling method for an acceleration control system is proposed. A 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 a 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. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 162(4): 72–81, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20507