Advanced motion control by multi‐sensor‐based disturbance observer

Abstract

AbstractMotion control has been widely used in industry applications. One of the key technologies of motion control is a disturbance observer, which quarries a disturbance torque of a motion system and realizes a robust acceleration control. The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems have begun to spread in society and are required to have the ability to make contact with the unknown environment. Such a haptic motion requires a much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second‐order derivative of position response, the bandwidth is limited because of the derivative noise.This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1 Hz to more than 1 kHz. To cover the DC range, the conventional position sensor‐based disturbance observer is integrated. Thus, the performance of the proposed multisensor based disturbance observer (MSDO) is superior to the conventional one. The MSDO is applied to position control (infinity stiffness) and force control (zero stiffness). The experimental results show the viability of the method proposed. © 2006 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.