NDLI: Backlash vibration suppression in torsional system based on the fractional order Q-filter of disturbance observer

Content Provider	IEEE Xplore Digital Library
Author	Chengbin Ma Hori, Y.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., Tokyo Univ., Japan (Chengbin Ma)
Abstract	In this paper, a fractional order Q-filter 1/(Ts+1)/sup /spl alpha// is introduced to substitute the integer order Q-filter 1/(/spl tau/s+1)/sup n/ used in conventional disturbance observer for speed control of torsional system. The theoretical analysis and experimental results show that changing the Q-filter's order fractionally can give a more effective way to adjust control system's frequency and time responses than just tuning it among integer orders. The tradeoff between stability margin loss and the strength of vibration suppression is a common problem in torsional system control. By introducing fractional order control (FOC) approach, control system can be designed more straightforwardly since control system's frequency responses can be altered between integer order control (IOC) system's continuously, while less control parameters are needed to be decided. Design process and experimental results demonstrate that an "EASY & STRAIGHTFORWARD DESIGN" can be achieved by introducing FOC control design concept. For implementation of the fractional order Q-filter, broken-line approximation method is applied. Even the realization issues for fractional order controllers are somewhat problematic. Experiment results show that the controllers can actually be realized quite acceptably.
Sponsorship	IEEE Industrial Electron. Soc. Inst. of Haptics Eng. Soc. Keio Univ
Starting Page	577
Ending Page	582
File Size	421772
Page Count	6
File Format	PDF
ISBN	0780383001
DOI	10.1109/AMC.2004.1297932
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Control design Stability Frequency Vibration control Process design Differential equations Control engineering Filters Velocity control
Content Type	Text
Resource Type	Article

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