Low-speed performance analysis and design of velocity servo control system

Silun Zhang; Fenghua He; Yu Yao; Jialiang Wu; Longming Li

doi:10.1109/ChiCC.2014.6896337

Low-speed performance analysis and design of velocity servo control system

Silun Zhang^*
, Fenghua He
, Yu Yao
, Jialiang Wu
, Longming Li

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

This paper studies the effect factors of the performance in low-speed servo control system, from some practical and often neglected perspectives. First of all, the quantization error in the motor driver's angle measurement is considered, which is actually necessary in some practical systems. Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy. In addition, on the basis of these analysis results, an hinf controller with the torque compensation is presented completely. At last, the strategy proposed is verified in a real rotary servo system.

Original language	English
Title of host publication	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Editors	Shengyuan Xu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	8000-8005
Number of pages	6
ISBN (Electronic)	9789881563842
DOIs	https://doi.org/10.1109/ChiCC.2014.6896337
State	Published - 11 Sep 2014
Event	Proceedings of the 33rd Chinese Control Conference, CCC 2014 - Nanjing, China Duration: 28 Jul 2014 → 30 Jul 2014

Publication series

Name	Proceedings of the 33rd Chinese Control Conference, CCC 2014
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	Proceedings of the 33rd Chinese Control Conference, CCC 2014
Country/Territory	China
City	Nanjing
Period	28/07/14 → 30/07/14

Keywords

Driver angular quantization
Hinf control
Low-speed servo control

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10.1109/ChiCC.2014.6896337

Cite this

Zhang, S., He, F., Yao, Y., Wu, J., & Li, L. (2014). Low-speed performance analysis and design of velocity servo control system. In S. Xu, & Q. Zhao (Eds.), Proceedings of the 33rd Chinese Control Conference, CCC 2014 (pp. 8000-8005). Article 6896337 (Proceedings of the 33rd Chinese Control Conference, CCC 2014). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2014.6896337

@inproceedings{eef44f7e415a49a69635db6197f89133,

title = "Low-speed performance analysis and design of velocity servo control system",

abstract = "This paper studies the effect factors of the performance in low-speed servo control system, from some practical and often neglected perspectives. First of all, the quantization error in the motor driver's angle measurement is considered, which is actually necessary in some practical systems. Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy. In addition, on the basis of these analysis results, an hinf controller with the torque compensation is presented completely. At last, the strategy proposed is verified in a real rotary servo system.",

keywords = "Driver angular quantization, Hinf control, Low-speed servo control",

author = "Silun Zhang and Fenghua He and Yu Yao and Jialiang Wu and Longming Li",

note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",

year = "2014",

month = sep,

day = "11",

doi = "10.1109/ChiCC.2014.6896337",

language = "英语",

series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

publisher = "IEEE Computer Society",

pages = "8000--8005",

editor = "Shengyuan Xu and Qianchuan Zhao",

booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",

address = "美国",

}

Zhang, S, He, F, Yao, Y, Wu, J & Li, L 2014, Low-speed performance analysis and design of velocity servo control system. in S Xu & Q Zhao (eds), Proceedings of the 33rd Chinese Control Conference, CCC 2014., 6896337, Proceedings of the 33rd Chinese Control Conference, CCC 2014, IEEE Computer Society, pp. 8000-8005, Proceedings of the 33rd Chinese Control Conference, CCC 2014, Nanjing, China, 28/07/14. https://doi.org/10.1109/ChiCC.2014.6896337

Low-speed performance analysis and design of velocity servo control system. / Zhang, Silun; He, Fenghua; Yao, Yu et al.
Proceedings of the 33rd Chinese Control Conference, CCC 2014. ed. / Shengyuan Xu; Qianchuan Zhao. IEEE Computer Society, 2014. p. 8000-8005 6896337 (Proceedings of the 33rd Chinese Control Conference, CCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Low-speed performance analysis and design of velocity servo control system

AU - Zhang, Silun

AU - He, Fenghua

AU - Yao, Yu

AU - Wu, Jialiang

AU - Li, Longming

PY - 2014/9/11

Y1 - 2014/9/11

N2 - This paper studies the effect factors of the performance in low-speed servo control system, from some practical and often neglected perspectives. First of all, the quantization error in the motor driver's angle measurement is considered, which is actually necessary in some practical systems. Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy. In addition, on the basis of these analysis results, an hinf controller with the torque compensation is presented completely. At last, the strategy proposed is verified in a real rotary servo system.

AB - This paper studies the effect factors of the performance in low-speed servo control system, from some practical and often neglected perspectives. First of all, the quantization error in the motor driver's angle measurement is considered, which is actually necessary in some practical systems. Then an experiment-based method is proposed to describe the motor disturbance torque and the friction torque with the appropriate accuracy. In addition, on the basis of these analysis results, an hinf controller with the torque compensation is presented completely. At last, the strategy proposed is verified in a real rotary servo system.

KW - Driver angular quantization

KW - Hinf control

KW - Low-speed servo control

UR - https://www.scopus.com/pages/publications/84907919376

U2 - 10.1109/ChiCC.2014.6896337

DO - 10.1109/ChiCC.2014.6896337

M3 - 会议稿件

AN - SCOPUS:84907919376

T3 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

SP - 8000

EP - 8005

BT - Proceedings of the 33rd Chinese Control Conference, CCC 2014

A2 - Xu, Shengyuan

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - Proceedings of the 33rd Chinese Control Conference, CCC 2014

Y2 - 28 July 2014 through 30 July 2014

ER -

Low-speed performance analysis and design of velocity servo control system

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Keywords

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