Improvement of Disturbance Rejection Performance by Equivalent Input Disturbance Estimation

Abstract

This paper presents a new method of improving the disturbance rejection performance of a servo system by estimating an equivalent input disturbance. First, the concept of equivalent input disturbance is defined. Next, the configuration of an improved servo system employing the new disturbance estimation method is described. Then, a method of designing a control law employing the disturbance estimate is explained. Finally, the positioning control of a two-finger robot hand is used to demonstrate the validity of the method. Key Words: disturbance estimation, disturbance rejection, equivalent input disturbance, servo system, perfect regulation 1. ‚Í ‚ ¶ ‚ß ‚É ‹ß "N,• § OEä OEn ‚Ì • §OEä •« "\ ‚ð•‚ ‚ß ‚邽‚ß ‚É,ŠO-• ‚ð•" 'è ‚· ‚éŽè-@‚ª •" '½ ‚-'ñ ˆÄ ‚³‚ê ‚Ä ‚¢ ‚é1)•`7).‚µ ‚© ‚µ,'ñ ˆÄ Žè-@ ‚Ì ‚Ù ‚AE‚ñ‚Ç ‚Í •o-Í ‚Ì"÷ •ª 'l ‚ð•K-v ‚AE‚µ‚Ä‚¢ ‚é.ˆê •û,1)•`4)‚Í •o-Í ‚Ì"÷ •ª'l ‚ª •K-v‚Å ‚Í ‚È‚¢‚ª,1),2)‚Í-¢ 'm"ü-Í ŠO-• ‚Ƀ‰ ƒ"ƒN•ðOE• ‚ð‰Û ‚µ,3)‚Í ŠO-• ‚Ì•Å'å'l ‚É ŠÖ‚· ‚é•î •ñ ‚ª •K-v ‚Å ‚ ‚è,4)‚Í • §OEä 'Î •Û ‚Ì‹t ƒ‚ƒf ƒ‹‚ªŠO-••"'è ‚É'¼•Ú-p ‚¢ ‚ç‚ê ‚Ä ‚¢ ‚½.‚± ‚ê ‚ç‚Ì-â'è "_ ‚ð‰ð OEˆ‚· ‚邽‚ß ‚É,8)‚Í ŠO-• ‹È-¦ƒ‚ ƒf ƒ‹ ‚ÉŠî‚à ‚-Žè-@ ‚ð'ñ ˆÄ ‚µ‚½.‚± ‚ÌŽè-@‚Í •o-Í‚Ì "÷ •ª'l ‚ð•K-v ‚AE ‚µ‚È‚¢‚¾ ‚¯‚Å ‚Í ‚È ‚-,•s ˆÀ'è ‚Èƒ[ ƒ• •E ‹É•Á ‹Ž ‚ðˆø ‚«‹N ‚±‚·‹° ‚ê ‚Ì‚ ‚é• § OEä 'Î •Û ‚Ì‹t ƒ‚ƒf ƒ‹ ‚à'¼•Ú ‚É-p ‚¢ ‚Ä ‚¢ ‚È ‚¢.‚µ ‚© ‚µ,ŠO-• •" 'è ‚É• § OEä 'Î•Û ‚Ì•ó 'Ô‚ª •K-v ‚Å‚ ‚Á ‚½. ŠO-•-} • §-â'è ‚É ‚¨‚¢‚¨‚¢ ‚Ä‚Í,• § OEä "ü-Í ‚ð-p ‚¢ ‚ÄŠO-• ‚ð-} • § ‚µ‚È‚¯‚ê ‚Î ‚È ‚ç‚È ‚¢ ‚½‚ß,ŠO-• ‚»‚Ì ‚à‚Ì ‚ð•" 'è ‚· ‚é ‚ae ‚è‚Í, • §OEä"ü-Í ƒ` ƒƒƒ" ƒlƒ‹ ‚É‚¨‚¢‚Ä‚É‚¨‚¢‚Ä,•o-Í‚É "¯ ‚ ¶OEø ‰Ê ‚ð ‚à‚½ ‚ç‚·"™ ‰¿"I ‚È"ü-Í •M • †(-{ ˜_ • ¶ ‚Å‚Í ‚±‚ê‚ð"™‰¿ "ü-Í ŠO-• ‚AE ‚ae‚Ô)‚ð •" 'è ‚· ‚é ‚± ‚AE‚ª-] ‚Ü ‚µ‚¢ ‚AE•l ‚¦ ‚ç‚ê ‚é.-{˜_ • ¶ ‚Å‚Í,‚Ü ‚¸,"™ ‰¿ "ü-ÍŠO-•‚ð'è ‹` ‚µ,‚ ‚¬‚É,• § OEä 'Î •Û ‚Ì •o-Í ‚ð-p ‚¢ ‚½ŠO-• •" 'è ‚Ì•V ‚µ‚¢Žè-@ ‚ð'ñ ˆÄ ‚· ‚é.‚» ‚Ì ‚¤‚¦ ‚Å,‚» ‚Ì•" 'è'l ‚ð-Z • ‡ ‚µ‚½•V ‚µ ‚¢ƒT •[ƒ{ OEn ‚ð•\ 'z ‚µ, ŠO-• •oe‹Ž•« "\‚ÌOEü •ã ‚ð •} ‚é. 2. •V ‚µ‚¢ ƒT •[ƒ{ OEn-{ •Í‚Å ‚Í,"™ ‰¿ "ü-Í ŠO-• ‚ð'è ‹` ‚µ,‚» ‚Ì' ¶ •Ý •« ‚ðŽ¦ ‚µ ‚½ OEã,"™ ‰¿ "ü-ÍŠO-• ‚Ì•" 'è Ší ‚ð•]-ˆ ‚̃T •[ƒ{OEn ‚É'} "ü ‚µ,•V ‚µ ‚¢ƒT •[ƒ{OEn ‚ð•\ 'z ‚· ‚é. 2.1 "™ ‰¿"ü-ÍŠO-• Fig. 1‚É Ž¦ ‚·ˆÈ‚·ˆÈ ‰º ‚Ì ‚ae ‚¤‚È•ü OE`OE`Žž •s •Ï ‚È• § OEä 'Î •Û ‚ð •l ‚¦ ‚é. dx(t) = Ax(t) + Bu(t) + Bdd t dt () 1 y(t) = Cx(t) •ã Ž® ‚É ‚¨‚¢‚¨‚¢ ‚Ä,A•¸Rn•~n, B•¸Rn•~nu, Ba•¸Rn•~nd, C•¸Rny•~n‚AE ‚· ‚é.