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This paper presents an application of a discrete derivative method with a new frequency mapping technique for adaptive-notch-filter (ANF) based resonance suppression in an actual industrial servo system. An ANF includes a frequency estimator which estimates the frequency of input signal in real time. A new discrete derivative method, which utilizes a modified bilinear transform, was recently developed...
Manufacturing demands have increased in recent years, requiring a tack time a few tens of milliseconds to assembly machines with vibrational modes of less than a couple of hundreds of Hz. For typical high-frequency range (approximately 800 Hz) vibrations, notch filters with a depth of 1.0 are successfully used for vibration suppression. However, low-frequency range (approximately 200 Hz) vibrations...
This paper presents a new decoupled disturbance compensation scheme with discrete-time variable structure control, to provide asymptotic convergence property even when the control input is driven beyond saturation limits. Discrete-time variable structure control (DVSC) method with a decoupled disturbance compensator (DDC) has been widely used in many applications, attributed to the robust properties...
This paper presents a new tuningless control algorithm for a DC servo drive to minimize parameter tuning efforts by an operator. This tuningless algorithm is based on a nonlinear control method, utilizing variable structure control and disturbance compensator. Experiments are performed using a 400 W Tamagawa servo motor and a belt drive load, which is a common combination in automation applications...
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