An estimator-based linear discrete-time controller for a high-performance two-axis miniature wheelchair drive is presented. This drive has a dominant resonance at approximately half the Nyquist frequency of the controller. The controller actively damps this resonance while simultaneously achieving a higher closed-loop bandwidth than in conventional designs. The controller design methodology is based on linear-quadratic-Gaussian (LQG) optimal control. Transformations are presented that simplify the implementation of the resulting fourth-order state estimator and linear control law. The drive is implemented with incremental-position encoders, a microprocessor, switching converters and a pair of motors.


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    Title :

    Feedback controller design for servo systems with dominant mechanical resonances


    Additional title:

    Reglerentwurf fuer Servoregelsysteme mit dominanten mechanischen Resonanzen


    Contributors:
    Otten, D.M. (author) / Casey, L.F. (author) / Van Shoor, M.C. (author)


    Publication date :

    1988


    Size :

    10 Seiten, 11 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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