In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and prediction of the plant output in the presence of the variable, unknown delay in both measurement and in control channels. The estimation is based on the available data -undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant -and does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters are discussed. Experimental results are shown to illustrate the theoretical predictions.Key words: Motion control, Network time delay, Observers, Disturbance observer Sustavi upravljanja gibanjem s komunikacijskim kašnjenjem. U ovom je radu razmotren sustav upravljanja gibanjem uz prisutno kašnjenje u mjernom i upravljačkom komunikacijskom kanalu te su predložene nove strukture estimacije/predikcije iznosa kašnjenja. Svojstvo predloženog sustava je poboljšanje konvergencije estimacije/predikcije izlaza iz procesa u prisustvu promjenjivog i nepoznatog kašnjenja u mjernom i upravljačkom kanalu. Estimacija se zasniva na dostupnim podacima -upravljačkom signalu bez kašnjenja, mjerenim signalima položaja ili brzine te nazivnim parametrima procesa-i ne zahtjeva a-priori poznavanje iznosa kašnjenja. Dokazana je stabilnosti i konvergencija sustava upravljanja. Odabran je estimator, a definirani su i parametri regulatora. Prikazani su eksperimentalni rezultati kojima se ilustrira valjanost teoretskih rezultata.
In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and prediction of the plant output in the presence of the variable, unknown delay in both measurement and in control channels. The estimation is based on the available data -undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant -and does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters are discussed. Experimental results are shown to illustrate the theoretical predictions.Upravljanje gibanjem u sustavu s mrežnim kašnjenjem. U ovom je radu razmotren sustav upravljanja gibanjem uz prisutno kašnjenje u mjernom i upravljačkom komunikacijskom kanalu te su predložene nove strukture estimacije/predikcije iznosa kašnjenja. Svojstvo predloženog sustava je poboljšanje konvergencije estimacije/predikcije izlaza iz procesa u prisustvu promjenjivog i nepoznatog kašnjenja u mjernom i upravljačkom kanalu. Estimacija se zasniva na dostupnim podacima -upravljačkom signalu bez kašnjenja, mjerenim signalima položaja ili brzine te nazivnim parametrima procesa-i ne zahtjeva a-priori poznavanje iznosa kašnjenja. Dokazana je stabilnosti i konvergencija sustava upravljanja. Odabran je estimator, a definirani su i parametri regulatora. Prikazani su eksperimentalni rezultati kojima se ilustrira valjanost teoretskih rezultata.
Transparency is an important indicator to evaluate the performance of a bilateral control system. Uncompensated disturbances in high frequency degrade the transparency in the traditional disturbance observer (DOB) based bilateral control. This paper analyzes the influence of the uncompensated disturbances, and proposes a sliding mode assist disturbance observer (SMADO) to solve the problem. The sliding mode technique helps the original DOB to estimate the disturbances in high frequency by making use of a rapid switching control value. The required switching gain is small in the proposal, which is good for alleviating the chattering. Moreover, to avoid conservative and arbitrary design of the switching gain, a reasonable benchmark is proposed by employing the estimation error between the original DOB and another parallel DOB with a different cutoff frequency. The validity of the proposal is confirmed by experiments. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.
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