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Integrated Design of Servomechanisms Using a Disturbance Observer

외란관측기를 이용한 서로계의 통합설계

  • Published : 2005.04.01

Abstract

This paper proposes a systematic design methodology for high-speed/high-precision servomechanisms by using a disturbance observer. A multiplicative uncertainty model and a two degree-of-freedom controller composed of a disturbance observer (DOB) and a PD controller are considered as subsystems. Analysis of the system performance, such as internal stability and bandwidth of a servomechanism according to subsystem parameters is conducted for better understanding of the dynamic behavior and interactions among the subsystem parameters. Then, an integrated design methodology, where the interactions are considered simultaneously, is applied to design processes of the servomechanism. The tradeoff relationship between disturbance suppression and measurement noise rejection of the DOB is considered through the design process. Numerical case studies show the improved possibility to evaluate and optimize the dynamic motion performance of the servomechanism. Moreover, the disturbance observer designed based on the proposed design methodology yields excellent disturbance suppression performance.

Keywords

Disturbance Observer;Integrated Design;Internal Stability;Multiobjective Function;Nonlinear Optimal Design;Servomechanism

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