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Enhanced sensitivity shaping by data-based tuning of disturbance observer with non-binomial filter
Xiaocong Li1, Si-Lu Chen2, Chek Sing Teo1
1SIMTech-NUS Joint Lab on Precision Motion Systems, 117582, Singapore; Mechatronics Group, Singapore Institute of Manufacturing Technology (SIMTech), 138634, Singapore.
ISA Transactions
|February 13, 2019
Summary
This study introduces a novel data-based method for sensitivity shaping in motion control systems using disturbance observers (DOB). It enhances disturbance rejection without sacrificing stability or noise attenuation, improving system performance.
Area of Science:
- Control Systems Engineering
- Robotics
- Mechatronics
Background:
- Traditional disturbance observers (DOB) offer effective disturbance rejection but have limited sensitivity shaping capabilities due to restricted Q-filter forms.
- The Q-filter's standard Butterworth or binomial forms constrain performance by offering only cutoff frequency as a tunable parameter.
Purpose of the Study:
- To develop an advanced sensitivity shaping method for motion control systems with disturbance observers.
- To overcome the limitations of traditional DOB Q-filters and enhance disturbance rejection performance.
Main Methods:
- Employed a general form of the Q-filter within the disturbance observer (DOB) framework.
- Developed a data-based iterative tuning procedure using a pre-defined cost function.
- Utilized input-output data from the operating system, avoiding the need for an identified system model.
Main Results:
- Successfully improved low-frequency disturbance rejection.
- Maintained high-frequency noise attenuation.
- Ensured robust stability of the motion control system.
- Demonstrated the effectiveness through simulations and experimental validation.
Conclusions:
- The proposed data-based sensitivity shaping method offers superior performance for demanding motion control applications.
- This approach provides enhanced disturbance rejection by leveraging system operational data.
- It represents a significant advancement over traditional DOB sensitivity shaping techniques.
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