Disturbance Observer-Based Motion Control For A Simple Direct Drive System
Direct drive system is the driving part that is directly connected to the driven part without using a gearbox. The advantages of direct drive system are frictionless, high efficiency, noise reduction and high torque, produced at low speed. However, the direct drive motor system has its limitation,...
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Penerbit Universiti, UTeM
2016
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my.utem.eprints.211582021-07-13T22:56:57Z http://eprints.utem.edu.my/id/eprint/21158/ Disturbance Observer-Based Motion Control For A Simple Direct Drive System Hasim, Norhaslinda Chong, Shin Horng Khor, Hooi Khee T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Direct drive system is the driving part that is directly connected to the driven part without using a gearbox. The advantages of direct drive system are frictionless, high efficiency, noise reduction and high torque, produced at low speed. However, the direct drive motor system has its limitation, which is sensitive to the disturbance and parameter variation. In this paper, a proportional derivative controller with disturbance observer (PDDO) is designed to achieve high positioning performance of the direct-drive system in the presence of mass and disturbance force variations. The direct-drive system in this paper is driven using voice coil motor. The disturbance observer controller is relatively easier to design than the other advanced controllers and often shows higher robust to the disturbance force and model parameter change, as compared to the conventional controller. The positioning performance of PDDO controller is evaluated and compared with a PID controller, which is designed to have similar sensitivity as the PDDO control. The positioning performance of the controllers is examined in the presence of different mass and disturbance force. Overall, the PDDO has demonstrated better robust performance as compared to the PID controller. Penerbit Universiti, UTeM 2016-05 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/21158/2/%5B2016JTEC%5D%20Disturbance%20observer%20based%20motion%20control%20for%20a%20simple%20direct%20drive%20system.pdf Hasim, Norhaslinda and Chong, Shin Horng and Khor, Hooi Khee (2016) Disturbance Observer-Based Motion Control For A Simple Direct Drive System. Journal Of Telecommunication, Electronic And Computer Engineering (JTEC) , 8 (5). pp. 41-47. ISSN 2180-1843 http://journal.utem.edu.my/index.php/jtec/article/view/749 |
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T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Hasim, Norhaslinda Chong, Shin Horng Khor, Hooi Khee Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
description |
Direct drive system is the driving part that is directly connected to the driven part without using a gearbox. The advantages of direct drive system are frictionless, high
efficiency, noise reduction and high torque, produced at low
speed. However, the direct drive motor system has its limitation, which is sensitive to the disturbance and parameter variation. In this paper, a proportional derivative controller with disturbance observer (PDDO) is designed to achieve high positioning performance of the direct-drive system in the presence of mass and disturbance force variations. The direct-drive system in this paper is driven using voice coil motor. The disturbance observer
controller is relatively easier to design than the other advanced controllers and often shows higher robust to the disturbance force and model parameter change, as compared to the conventional controller. The positioning performance of PDDO controller is evaluated and compared with a PID controller, which is designed to have similar sensitivity as the PDDO control. The positioning performance of the controllers is examined in the presence of different mass and disturbance force. Overall, the PDDO has demonstrated better robust performance as compared to the PID controller. |
format |
Article |
author |
Hasim, Norhaslinda Chong, Shin Horng Khor, Hooi Khee |
author_facet |
Hasim, Norhaslinda Chong, Shin Horng Khor, Hooi Khee |
author_sort |
Hasim, Norhaslinda |
title |
Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
title_short |
Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
title_full |
Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
title_fullStr |
Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
title_full_unstemmed |
Disturbance Observer-Based Motion Control For A Simple Direct Drive System |
title_sort |
disturbance observer-based motion control for a simple direct drive system |
publisher |
Penerbit Universiti, UTeM |
publishDate |
2016 |
url |
http://eprints.utem.edu.my/id/eprint/21158/2/%5B2016JTEC%5D%20Disturbance%20observer%20based%20motion%20control%20for%20a%20simple%20direct%20drive%20system.pdf http://eprints.utem.edu.my/id/eprint/21158/ http://journal.utem.edu.my/index.php/jtec/article/view/749 |
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1706960967608303616 |
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13.160551 |