| Abstract |
Motion 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 begin to spread in the society and
they are required to have ability to contact with unknown
environment. Such a haptic motion requires 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 due to the derivative noise.
This paper proposes a novel multi-sensor based acceleration
disturbance observer (MADO). The proposed MADO
uses an acceleration sensor for enlargement of bandwidth.
Generally, the bandwidth of an acceleration sensor is from
1 Hz to more than 1kHz. To cover DC range, the second
order derivative of position is integrated. The integrated acceleration
value realizes lower observation noise and higher
bandwidth than a conventional estimated acceleration.
Thus, the proposed MADO can get at wide frequency
response than conventional one. And, it made dramatically
more responsive a position control and a force control.
Results are verified by simulation. |
