Disturbance rejection using output and input estimation. Application to the friction compensation of a DC motor

Nuninger, Walter; Balaud, B.; Kratz, Frédéric

doi:10.1016/s0967-0661(97)00027-0

Cited by 10 publications

(9 citation statements)

References 8 publications

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“…The principle of signal superposition is invoked such that should a suitable friction observer be available, superimposing a negation of the estimated friction torque onto the rate loop control signal will improve stiffness (Armstrong-Helouvry, Dupont, and Canudas de Wit 1994; Ray, Ramasubramanian, and Townsend 2001;Nuninger, Balaud, and Kratz 1997). This is shown in Figure 9 for two different observer architectures.…”

Section: Friction Compensationmentioning

confidence: 99%

Sightline Jitter Minimization and Shaping Using Nonlinear Friction Compensation

Anderson

MacDonald

Ingleby

et al. 2007

International Journal of Optomechatronics

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Friction-induced sightline jitter significantly degrades the image resolution and detection range of a stabilised optical system. Therefore, any controller that can reduce jitter levels in the stabilisation sub-system will have a significant impact on overall electro-optic system performance. This article presents the results of an investigation into several friction compensation models applied to the validated model of an in-service electro-optic turret. The turret test harness, system identification software and friction measurement techniques used in the validation procedure-experimental transfer function analysis-are presented. A worstcase approach was used in setting the sensor noise and base motion acceleration levels. This test data was then used to validate a mathematical model of the turret elevation axis for use in off-line design and tuning of six friction compensation controllers. Three types of friction compensator model were investigated; a linear Kalman filter, an extended Kalman filter with a static friction model and an extended Kalman filter using a dynamic friction model. Additionally, two controller architectures were used. All six controllers were shown to significantly reduce jitter levels overall, but a new controller architecture was shown to also further reduce image degradation due to smearing.

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Section: Friction Compensationmentioning

confidence: 99%

Sightline Jitter Minimization and Shaping Using Nonlinear Friction Compensation

Anderson

MacDonald

Ingleby

et al. 2007

International Journal of Optomechatronics

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“…In speed regulation applications, conventional industrial proportional, integral, and derivative (PID) controllers may not be very effective in eliminating the speed ripples of motors with small inertia, due to the periodic nature of the disturbance torque. In this case, the disturbance compensation is desirable [2], [1], [5], [3], [4], and [6]. A feed-forward approach is used to compute the disturbances off-line, then save them in a look-up table.…”

Section: Introductionmentioning

confidence: 99%

“…(3)and(4) are used to computer the disturbance with the following initial condition ω(0) = 0.2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC) Orlando, FL, USA, December 12-15, 2011…”

mentioning

confidence: 99%

Disturbance compensation for DC motor mechanism low speed regulation: A feedforward and feedback implementation

2011

IEEE Conference on Decision and Control and European Control Conference

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The disturbance torque in the DC motor drive of a scan unit was calculated using the known voltage input to the motor and the measured motor speed response. The cogging torque of the motor and the friction in the mechanism can then be estimated from the calculated disturbance torque. The calculated disturbance torque was further utilized to reduce the speed ripples in speed regulation applications. A combined feedforward and feedback configuration was used to reject the disturbance based on both the off-line calculated disturbance and the on-line estimated disturbance. This scheme was successfully implemented in commercial scan devices. Data obtained under real operating conditions demonstrated the effectiveness and robustness of this disturbance compensation scheme.

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“…When a DC motors is used as the actuator in a control system, the cogging torque causes the torque ripples and subsequently the speed ripples in the system speed response, which may not be acceptable for some applications, especially for certain low speed regulation applications. The amount of cogging torque in a DC motor can be reduced or eliminated using better manufacturing techniques such as the skewed lamination armature [2], which increase the cost of the motor, or the cogging torque effect can be compensated using control techniques such as the the feedforward control [1], [4], and [5], or the input and output based estimation [9].…”

Section: Introductionmentioning

confidence: 99%

A cogging torque compensating disturbance estimator for DC motor speed regulation: Design and experimentation

2009

2009 IEEE International Symposium on Industrial Electronics

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A disturbance estimator was designed and integrated into an existing proportional and integral controller DC motor speed control system to improve the speed regulation. The DC motor in the existing control system possessed a large amount of cogging torque, causing a periodic speed error. This cogging torque was treated as an equivalent input disturbance which then was estimated using a disturbance estimator. The estimated disturbance was utilized to reject the cogging torque. The speed response was largely improved by augmenting this disturbance estimator. The robust stability and performance of this scheme were investigated. Experiment results demonstrated the effectiveness of this scheme.

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Disturbance rejection using output and input estimation. Application to the friction compensation of a DC motor

Cited by 10 publications

References 8 publications

Sightline Jitter Minimization and Shaping Using Nonlinear Friction Compensation

Sightline Jitter Minimization and Shaping Using Nonlinear Friction Compensation

Disturbance compensation for DC motor mechanism low speed regulation: A feedforward and feedback implementation

A cogging torque compensating disturbance estimator for DC motor speed regulation: Design and experimentation

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