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The Application of Fractional Order Control to Backlash Vibration Suppression
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ma, Chengbin Hori, Yoichi |
| Copyright Year | 2004 |
| Abstract | This paper applies fractional order PID k con- troller to torsional system's backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. In order to improve control system's robustness against backlash non-linearity, several methods have been proposed. However their design processes are very complicated. In this paper, a clear and straightforward design is achieved by adjusting the D con- troller's order k directly. An approximation method based on sampling time scaling property is also introduced to realize the discrete D k controller. Design process and experimental results demonstrate straightforward robust control design through the novel Fractional Order Control (FOC) approach, the PID k control system's robustness against backlash non-linearity and good approximation of the realization method. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://folk.ntnu.no/skoge/prost/proceedings/acc04/Papers/0515_ThM09.5.pdf |
| Alternate Webpage(s) | http://www.nt.ntnu.no/users/skoge/prost/proceedings/acc04/Papers/0515_ThM09.5.pdf |
| Alternate Webpage(s) | http://hflab.k.u-tokyo.ac.jp/hori_lab/paper_2004/paper/motion/ma/acc04.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
