Abstract
The authors present a controller for an electric motor-driven servosystem intended for use in automobiles. The controller features a low-sensitivity design to provide robustness against external disturbances and the nonlinearity of the positioning mechanism. To eliminate the effects of gradual but significant change in the plant characteristics with use, the addition of the identifier to the controller was examined, along with the retuning of the controller gain. The plant, denoted as a discrete system, has a zero near the unit circle in the z plane that can cause the controller output to oscillate when the controller is designed to contain the inverse system of the plant, producing a sound or electric noise. To avoid this problem, a delta operator is used to represent the discrete system, making it possible to ignore this zero. The effect of ignoring the zero on stability and response was examined by using the Nyquist stability criterion and computer simulation, respectively. The validity of the proposed identification method was confirmed through computer simulation. An experiment confirmed the low sensitivity of the controller.
| Original language | English |
|---|---|
| Pages (from-to) | 2170-2175 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| Publication status | Published - Dec 1 1990 |
| Event | Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA Duration: Dec 5 1990 → Dec 7 1990 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization
Cite this
Robust controller for a servo positioning system of an automobile. / Kawabe, Taketosi; Yamamura, Yoshinori; Kanai, Kimio.
In: Proceedings of the IEEE Conference on Decision and Control, Vol. 4, 01.12.1990, p. 2170-2175.Research output: Contribution to journal › Conference article
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TY - JOUR
T1 - Robust controller for a servo positioning system of an automobile
AU - Kawabe, Taketosi
AU - Yamamura, Yoshinori
AU - Kanai, Kimio
PY - 1990/12/1
Y1 - 1990/12/1
N2 - The authors present a controller for an electric motor-driven servosystem intended for use in automobiles. The controller features a low-sensitivity design to provide robustness against external disturbances and the nonlinearity of the positioning mechanism. To eliminate the effects of gradual but significant change in the plant characteristics with use, the addition of the identifier to the controller was examined, along with the retuning of the controller gain. The plant, denoted as a discrete system, has a zero near the unit circle in the z plane that can cause the controller output to oscillate when the controller is designed to contain the inverse system of the plant, producing a sound or electric noise. To avoid this problem, a delta operator is used to represent the discrete system, making it possible to ignore this zero. The effect of ignoring the zero on stability and response was examined by using the Nyquist stability criterion and computer simulation, respectively. The validity of the proposed identification method was confirmed through computer simulation. An experiment confirmed the low sensitivity of the controller.
AB - The authors present a controller for an electric motor-driven servosystem intended for use in automobiles. The controller features a low-sensitivity design to provide robustness against external disturbances and the nonlinearity of the positioning mechanism. To eliminate the effects of gradual but significant change in the plant characteristics with use, the addition of the identifier to the controller was examined, along with the retuning of the controller gain. The plant, denoted as a discrete system, has a zero near the unit circle in the z plane that can cause the controller output to oscillate when the controller is designed to contain the inverse system of the plant, producing a sound or electric noise. To avoid this problem, a delta operator is used to represent the discrete system, making it possible to ignore this zero. The effect of ignoring the zero on stability and response was examined by using the Nyquist stability criterion and computer simulation, respectively. The validity of the proposed identification method was confirmed through computer simulation. An experiment confirmed the low sensitivity of the controller.
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M3 - Conference article
AN - SCOPUS:0025560173
VL - 4
SP - 2170
EP - 2175
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
SN - 0191-2216
ER -