Title :
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
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;
Conference_Titel :
Applied Power Electronics Conference and Exposition, 1988. APEC '88. Conference Proceedings 1988., Third Annual IEEE
Conference_Location :
New Orleans, LA
DOI :
10.1109/APEC.1988.10561
