Journal
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Volume 14, Issue 10, Pages 4446-4456Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2018.2804338
Keywords
Adaptive control; adaptive notch filter (ANF); disturbance observer (DOB); periodic disturbance; time-delay element
Categories
Funding
- JSPS KAKENHI
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Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer (PDOB) based on the disturbance observer (DOB) structure is proposed. The PDOB compensates a periodic disturbance including the fundamental wave and harmonics by using a time-delay element. Furthermore, an adaptive PDOB is proposed for the compensation of frequency-varying periodic disturbances. An adaptive notch filter is used in the adaptive PDOB to estimate the fundamental frequency of the periodic disturbance. Simulations compare the proposed methods with a repetitive controller and the DOB. Practical performances are validated in experiments using a multiaxis manipulator. The proposal provides a new framework based on the DOB structure to design controllers using a time-delay element.
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