Feedback controller design for servo systems with dominant mechanical resonances

Author

Otten, David M. ; Casey, Leo F. ; Van Shoor, M.C.

Author_Institution

MIT, Cambridge, MA, USA

fYear

1988

fDate

1-5 Feb 1988

Firstpage

139

Lastpage

148

Abstract

An estimator-based linear discrete-time controller for a high-performance two-axis miniature wheelchair drive is presented. This drive has a dominant resonance at approximately half the Nyquist frequency of the controller. The controller actively damps this resonance while simultaneously achieving a higher closed-loop bandwidth than in conventional designs. The controller design methodology is based on linear-quadratic-Gaussian (LQG) optimal control. Transformations are presented that simplify the implementation of the resulting fourth-order state estimator and linear control law. The drive is implemented with incremental-position encoders, a microprocessor, switching converters and a pair of motors

Keywords

electric drives; electric motors; electric vehicles; feedback; servomechanisms; Nyquist frequency; closed-loop bandwidth; dominant mechanical resonances; incremental-position encoders; linear control; linear discrete-time controller; microprocessor; motors; optimal control; servo systems; servomechanisms; state estimator; wheelchair drive; Adaptive control; Bandwidth; Design methodology; Drives; Frequency; Optimal control; Resonance; Servomechanisms; State estimation; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Power Electronics Conference and Exposition, 1988. APEC '88. Conference Proceedings 1988., Third Annual IEEE

Conference_Location

New Orleans, LA

Type

conf

DOI

10.1109/APEC.1988.10561

Filename

10561