Optimal digital controller design for a servo motor taking account of intersample behavior

Tatsuro Akiyoshi, Jun Imai, Shigeyuki Funabiki

Research output: Contribution to journalArticle

Abstract

A continuous-time plant with discretized continuous-time controller do not yield stability if the sampling rate is lower than some certain level. Thus far, high functioning electronic control has made use of high cost hardwares which are needed to implement discretized continuous-time controllers, while low cost hardwares generally do not have high enough sampling rate. This technical note presents results comparing performance indices with and without intersample behavior, and some answer to the question how a low specification device can control a plant effectively. We consider a machine simulating wafer handling robots at semiconductor factories, which is an electromechanical system driven by a direct drive motor. We illustrate controller design for the robot with and without intersample behavior, and simulations and experimental results by using these controllers. Taking intersample behavior into account proves to be effective to make control performance better and enables it to choose relatively long sampling period. By controller design via performance index with intersample behavior, we can cope with situation where short enough sampling period may not be employed, and freedom of controller design might be widened especially on choice of sampling period.

Original languageEnglish
Pages (from-to)1384-1389
Number of pages6
JournalIEEJ Transactions on Electronics, Information and Systems
Volume132
Issue number8
DOIs
Publication statusPublished - 2012

Fingerprint

Controllers
Sampling
Robots
Hardware
Industrial plants
Costs
Semiconductor materials
Specifications

Keywords

  • Digital Control
  • Intersample behavior
  • Optimal Servo

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

@article{0ca6aa6799224a699b58db86f3ecdb9b,
title = "Optimal digital controller design for a servo motor taking account of intersample behavior",
abstract = "A continuous-time plant with discretized continuous-time controller do not yield stability if the sampling rate is lower than some certain level. Thus far, high functioning electronic control has made use of high cost hardwares which are needed to implement discretized continuous-time controllers, while low cost hardwares generally do not have high enough sampling rate. This technical note presents results comparing performance indices with and without intersample behavior, and some answer to the question how a low specification device can control a plant effectively. We consider a machine simulating wafer handling robots at semiconductor factories, which is an electromechanical system driven by a direct drive motor. We illustrate controller design for the robot with and without intersample behavior, and simulations and experimental results by using these controllers. Taking intersample behavior into account proves to be effective to make control performance better and enables it to choose relatively long sampling period. By controller design via performance index with intersample behavior, we can cope with situation where short enough sampling period may not be employed, and freedom of controller design might be widened especially on choice of sampling period.",
keywords = "Digital Control, Intersample behavior, Optimal Servo",
author = "Tatsuro Akiyoshi and Jun Imai and Shigeyuki Funabiki",
year = "2012",
doi = "10.1541/ieejeiss.132.1384",
language = "English",
volume = "132",
pages = "1384--1389",
journal = "IEEJ Transactions on Electronics, Information and Systems",
issn = "0385-4221",
publisher = "The Institute of Electrical Engineers of Japan",
number = "8",

}

TY - JOUR

T1 - Optimal digital controller design for a servo motor taking account of intersample behavior

AU - Akiyoshi, Tatsuro

AU - Imai, Jun

AU - Funabiki, Shigeyuki

PY - 2012

Y1 - 2012

N2 - A continuous-time plant with discretized continuous-time controller do not yield stability if the sampling rate is lower than some certain level. Thus far, high functioning electronic control has made use of high cost hardwares which are needed to implement discretized continuous-time controllers, while low cost hardwares generally do not have high enough sampling rate. This technical note presents results comparing performance indices with and without intersample behavior, and some answer to the question how a low specification device can control a plant effectively. We consider a machine simulating wafer handling robots at semiconductor factories, which is an electromechanical system driven by a direct drive motor. We illustrate controller design for the robot with and without intersample behavior, and simulations and experimental results by using these controllers. Taking intersample behavior into account proves to be effective to make control performance better and enables it to choose relatively long sampling period. By controller design via performance index with intersample behavior, we can cope with situation where short enough sampling period may not be employed, and freedom of controller design might be widened especially on choice of sampling period.

AB - A continuous-time plant with discretized continuous-time controller do not yield stability if the sampling rate is lower than some certain level. Thus far, high functioning electronic control has made use of high cost hardwares which are needed to implement discretized continuous-time controllers, while low cost hardwares generally do not have high enough sampling rate. This technical note presents results comparing performance indices with and without intersample behavior, and some answer to the question how a low specification device can control a plant effectively. We consider a machine simulating wafer handling robots at semiconductor factories, which is an electromechanical system driven by a direct drive motor. We illustrate controller design for the robot with and without intersample behavior, and simulations and experimental results by using these controllers. Taking intersample behavior into account proves to be effective to make control performance better and enables it to choose relatively long sampling period. By controller design via performance index with intersample behavior, we can cope with situation where short enough sampling period may not be employed, and freedom of controller design might be widened especially on choice of sampling period.

KW - Digital Control

KW - Intersample behavior

KW - Optimal Servo

UR - http://www.scopus.com/inward/record.url?scp=84867063495&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84867063495&partnerID=8YFLogxK

U2 - 10.1541/ieejeiss.132.1384

DO - 10.1541/ieejeiss.132.1384

M3 - Article

AN - SCOPUS:84867063495

VL - 132

SP - 1384

EP - 1389

JO - IEEJ Transactions on Electronics, Information and Systems

JF - IEEJ Transactions on Electronics, Information and Systems

SN - 0385-4221

IS - 8

ER -