Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Disturbance Observer Considering Robustness and Control Performance (1) : Analysis on Second Order System

강인성과 제어 성능을 고려한 외란 관측기의 설계 (1) : 2차 시스템에 대한 이론적 해석

  • Park, Youngjin (Dept. of Mechanical Engineering, Pohang University of Science and Technology) ;
  • Yang, Gwang-Jin (Dept.of Mechanical Engineering, Korea Air Force Academy) ;
  • Chunng, Wan-Kyun (Dept. of Mechanical Engineering, Pohang University of Science and Technology) ;
  • Kim, Hong-Rok (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University)
  • 최영진 (포항공과대학교 기계공학과) ;
  • 양광진 (공군사관학교 기계공학과) ;
  • 정완균 (포항공과대학교 기계공학과) ;
  • 김홍록 (한양대학교 전자컴퓨터공학부) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부)
  • Published : 2002.08.01
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Abstract

The disturbance observer (DOB) has been widely utilized for high precision/speed motion control applications. However, it still lacks the analysis for the robustness and performance brought by using DOB. This paper proposes the robustness measure of DOB and reveals the relationships between the disturbance rejection performance and the order/time constant of a Q filter in DOB. Additionally, we propose six guidelines for the design of Q filter and show their validity through the experiments for DVD systems.

Keywords

References

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