Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 4, Pages 2139-2150Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3032115
Keywords
Motion control; Robustness; Stability analysis; Bandwidth; Manganese; Robust stability; Servomotors; Discrete-time control; disturbance observer; motion control; robustness and stability
Categories
Funding
- Ministry for Education, Science and Youth of Sarajevo Canton
- Ministry of Civil Affairs of Bosnia and Herzegovina
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This article analyzes the robust stability and performance of disturbance observer (DOb) based digital motion control systems in the discrete-time domain, showing that the phase margin and robustness can be adjusted by tuning the nominal plant model and observer bandwidth. Design constraints on the DOb parameters change based on the states of the servosystem being measured.
This article analyses the robust stability and performance of the disturbance observer (DOb) based digital motion control systems in the discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller can be directly adjusted by tuning the nominal plant model and the bandwidth of the observer. However, they have the upper and lower bounds due to robust stability and performance constraints as well as the noise sensitivity. The constraints on the design parameters of the DOb change when the digital motion controller is synthesized by measuring different states of a servosystem. For example, the bandwidth of the DOb is limited by the noise sensitivity and waterbed effect when the velocity and position measurements are employed in the digital robust motion controller synthesis. The robustness constraint due to the waterbed effect is removed when the DOb is implemented by acceleration measurement. The design constraints on the nominal plant model and the bandwidth of the observer are analytically derived by employing the generalized Bode integral theorem in discrete time. The proposed design constraints allow one to systematically synthesize a high-performance DOb-based digital robust motion controller. The experimental results are given to verify the proposed analysis and synthesis methods.
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