An analysis on bilateral control system with quantization by multi-level delta-sigma modulation

In this paper, we treat bilateral control system with quantization. Quantization can compress the amount of information, used for communication between master and slave systems.. However in many cases, the performance of the system is deteriorated by quantization error. Therefore, this paper proposes the utilization of multi-level delta-sigma modulator for control system. Multi-level delta-sigma modulator contains fedback structure. The previous step quantization error is fedback and it is summed to quantized value. By the operation of the quantization, low-frequency quantization error is noise-shaped to the high frequency band. Hence, quantization error in low-frequency is suppressed by multi-level delta-sigma modulator. In order to confirm the effectiveness of proposed method, this paper employs hybrid parameters. By performing analysis on the hybrid parameter, we can confirm that adverse effect of quantization error on reproducibility and operationality can be suppressed by using delta-sigma modulator. In addition, the amount of information of quantized value by the delta-sigma modulator is identical to general quantizer.