Dynamic Switching of Two Degree-of-Freedom Control for Belt-Driven Servomechanism

被引：1

作者：

Chen, Chun-Lin ^{[1
]}

Tsai, Mi-Ching ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, Dept Mech Engn, Tainan 70101, Taiwan

来源：

IEEE ACCESS | 2018年 / 6卷

关键词：

Servomechanism; robustness; H-infinity control; control engineering; DISTURBANCE ATTENUATION; SPEED CONTROL; DESIGN; SYSTEMS;

D O I：

10.1109/ACCESS.2018.2884218

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a new two degree-of-freedom control structure such that the robustness control of a belt-driven servomechanism is adequately addressed. In conventional design approaches, a trade-off between robust stability and robust tracking performance is unavoidable because the control engineer must take different frequency regions into consideration. In this paper, a frequency-dependent switching control structure is proposed, where the feedback connection to the external-loop controller is dynamically switched between the outputs of the controlled plant and its nominal model. The disturbance attenuation at lower frequencies by the double-loop control, as well as the robust stability at higher frequencies through the reference feedforward control, can be achieved at one fixed two degree-of-freedom control structure. The feasibility of the proposed approach is verified by theoretical analysis and experimental results.

引用

页码：77849 / 77858

页数：10

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