scholarly journals Improvement of tracking performance of disturbance observer-based predictive functional control systems using zero phase error tracking controller

2017 ◽  
Vol 83 (853) ◽  
pp. 17-00142-17-00142
Author(s):  
Toshiyuki SATOH ◽  
Jun-ya NAGASE ◽  
Norihiko SAGA ◽  
Naoki SAITO
Keyword(s):  
Control Systems ◽  
Disturbance Observer ◽  
Phase Error ◽  
Tracking Performance ◽  
Predictive Functional Control ◽  
Tracking Controller ◽  
Functional Control ◽  
Zero Phase

Precision motion control of permanent magnet linear synchronous motor servo system based on an integrated controller with inertia variation compensation

2012 ◽  
Vol 227 (7) ◽  
pp. 1481-1494 ◽  
Author(s):  
Zhijun Li ◽  
Chengying Liu ◽  
Fanwei Meng ◽  
Kai Zhou
Keyword(s):  
Permanent Magnet ◽  
Motion Control ◽  
Disturbance Observer ◽  
Phase Error ◽  
Servo System ◽  
Tracking Performance ◽  
Tracking Controller ◽  
Integrated Controller ◽  
Feed Forward Controller ◽  
Zero Phase

To achieve high robustness and precise motion control of permanent magnet linear synchronous motor servo system, an integrated controller is presented, including a velocity feed forward controller, a zero phase error tracking controller, a disturbance observer and inertia variation compensator. The velocity feed forward controller and the zero phase error tracking controller are included to improve tracking performance and the disturbance observer is involved to enhance disturbance rejection. However, both the zero phase error tracking controller and the disturbance observer are sensitive to inertia variation which often occurs in servo systems. So, an inertia compensator, which consists of a perfect tracking controller for the current loop and a compensation gain, is proposed to retain tracking performance. Detailed experiments are conducted on a PMLSM servo system to confirm the effectiveness of the integrated controller.

Zero Phase Error Tracking Controllers With Optimal Gain Characteristics

1993 ◽  
Vol 115 (3) ◽  
pp. 311-318 ◽  
Author(s):  
Y. Funahashi ◽  
M. Yamada
Keyword(s):  
Control System ◽  
Phase Error ◽  
Tracking Performance ◽  
Output Data ◽  
Tracking Controllers ◽  
Tracking Controller ◽  
Phase Property ◽  
Feedforward Controller ◽  
Step Type ◽  
Zero Phase

Recently, a digital feedforward controller, called a Zero Phase Error Tracking Controller (ZPETC), has been proposed. In this controller, the overall frequency response between the desired output and the controlled output exhibits zero phase shift for all frequencies by using a few steps of the future desired output data. In this paper, two extensions of ZPETC’s are proposed: a ZPETC with deadbeat tracking performance and an L2-Optimal ZPETC. These ZPETC’s can provide the overall control system with not only the above phase property but also the excellent tracking performance for a desired output and the superior gain property, respectively. Moreover, a ZPETC with both the excellent tracking performance for a step-type and ramp-type desired output and the superior gain property, called an L2-Optimal ZPETC with deadbeat tracking performance, is presented.

Predictive Functional Control of a Table Drive System Using Disturbance Observer and Preview Feedforward Controller

2015 ◽  
Vol 789-790 ◽  
pp. 995-1004
Author(s):  
Toshiyuki Satoh ◽  
Hiroki Hara ◽  
Taishi Sogawa ◽  
Naoki Saito ◽  
Jun Ya Nagase ◽  
...  
Keyword(s):  
Control System ◽  
Disturbance Observer ◽  
Phase Error ◽  
Tracking Error ◽  
Drive System ◽  
Predictive Functional Control ◽  
Functional Control ◽  
Feedforward Controller ◽  
Drive Systems ◽  
Two Degree Of Freedom

This paper addresses a two-degree-of-freedom control system design for positioning de-vices such as table drive systems based on the predictive functional control (PFC). The aim of the paper is to improve the tracking performance of the previously developed disturbance observer-based predictive functional control (DOB-PFC) system. To this end, we derive a transfer function representation of the PFC controller. On the basis of the representation, we apply the zero phase error tracking controller (ZPETC) as a feedforward preview controller. Experiments using a real table drive system are conducted to compare the proposed control system with DOB-PFC. The experimental results show that the tracking error is greatly reduced compared to DOB-PFC.

Stability Robustness of Repetitive Control Systems With Zero Phase Compensation

1990 ◽  
Vol 112 (3) ◽  
pp. 320-324 ◽  
Author(s):  
C. C. H. Ma
Keyword(s):  
Control System ◽  
Large Class ◽  
Control Systems ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Three Solutions ◽  
Phase Compensation ◽  
Saturation Nonlinearity ◽  
Stability Robustness ◽  
Zero Phase

It is shown that a special zero phase control (ZPC) system introduced by Tomizuka is L∞ stable against a large class of common nonlinearities. However, it still suffers from the generic nonrobustness problem associated with a linear repetitive control system when subjected to a saturation nonlinearity. For the special ZPC system, however, three solutions exist for the problem, two of which do not degrade the repetitive tracking performance.

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