Structure design with sensitivity control performance limitation for electromechanical systems

Junichi Shirao, Jun Imai, Masami Konishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Use of control systems performance limitation is made to design mechanical structure of a counterbalance in a one-link arm that swings vertically forced by a direct-drive motor. It is well known that, by Bode's integral, sensitivity performance of the control systems is essentially limited and that the bandwidth of the open loop transfer function causes a kind of waterbed effects. The performance bounds are proved to be affected significantly by the poles location, the inertia moment, as well as the dominant characteristic frequency of the plant. Therefore it is claimed that a sensitivity specification provides useful designing conditions in terms of a plant, and that the plant with no unstable poles, a low inertia moment and a low characteristic frequency is generally desirable to meet it. The conditions are straightforwardly recited into ones for physical parameters such as mass, length and angle of the counterbalance. Effectiveness of the proposed approach for structure design of a counterbalance is illustrated by a standard controller synthesis and nonlinear numerical simulation.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages2362-2367
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

Fingerprint

Poles
Control systems
Transfer functions
Specifications
Bandwidth
Controllers
Computer simulation

Keywords

  • Balance mechanism
  • Performance limitation
  • Sensitivity function
  • Structure design

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Shirao, J., Imai, J., & Konishi, M. (2006). Structure design with sensitivity control performance limitation for electromechanical systems. In 2006 SICE-ICASE International Joint Conference (pp. 2362-2367). [4109090] https://doi.org/10.1109/SICE.2006.315647

Structure design with sensitivity control performance limitation for electromechanical systems. / Shirao, Junichi; Imai, Jun; Konishi, Masami.

2006 SICE-ICASE International Joint Conference. 2006. p. 2362-2367 4109090.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shirao, J, Imai, J & Konishi, M 2006, Structure design with sensitivity control performance limitation for electromechanical systems. in 2006 SICE-ICASE International Joint Conference., 4109090, pp. 2362-2367, 2006 SICE-ICASE International Joint Conference, Busan, Korea, Republic of, 10/18/06. https://doi.org/10.1109/SICE.2006.315647
Shirao J, Imai J, Konishi M. Structure design with sensitivity control performance limitation for electromechanical systems. In 2006 SICE-ICASE International Joint Conference. 2006. p. 2362-2367. 4109090 https://doi.org/10.1109/SICE.2006.315647
Shirao, Junichi ; Imai, Jun ; Konishi, Masami. / Structure design with sensitivity control performance limitation for electromechanical systems. 2006 SICE-ICASE International Joint Conference. 2006. pp. 2362-2367
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