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Design of a servo control system using a notch filter for a flexible arm and its applications
Author(s) -
Mori Takahiko
Publication year - 2013
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.22343
Subject(s) - band stop filter , control theory (sociology) , servo , filter (signal processing) , servomechanism , spillover effect , computer science , control engineering , engineering , low pass filter , control (management) , artificial intelligence , computer vision , economics , microeconomics
This paper proposes a new design method for a frequency‐dependent servo system for the positioning of flexible structures. In order to reduce sensor costs and to suppress spillover phenomena caused by ignored elastic modes of the plant, we introduce a prefilter into an input which possesses the characteristics of a notch filter. The proposed method allows for the design of the specified characteristics of the prefilter and for precise assignment of poles to desirable locations in a closed‐loop system. As a result, the tradeo problem between suppression and transients can be resolved. The results of simulations and experiments are given in order to verify the usefulness of this method. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 183(1): 39–50, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22343