Abstract
This paper focuses on realization of high per- formance motion control based on acceleration control. A high sampling frequency is known to be effective for improving the performance. Characteristics of acceleration control are investigated and the relationship between the performance and the sampling frequency of the system is discussed. Based on these considerations, a new multirate sampling method for the acceleration control system is proposed. Disturbance observer is redesigned for application in the multirate system. Stability analysis is performed to verify the validity of the proposal. Feasibility of the proposal and influence on the performance are also verified by experimental results. frequency of acceleration control. The needs of a higher sampling frequency for output than for input are de- scribed. From this point of view, this paper proposes a new multirate sampling method with a shorter output sampling period for improvement of acceleration control performance. Disturbance observer is redesigned to fit to the multirate system with a new definition of dis- turbance torque. Stability analysis is performed to make a comparison with single-rate control and to verify the validity of the proposal. Experimental results support the feasibility of the proposed method and improvement of the performance. This study considers the system in the 1st dimension for simplicity.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
