DocumentCode
2133931
Title
Performance analysis of a servo system with high-bandwidth torque disturbance observer
Author
Bertoluzzo, Manuele ; Buja, Giuseppe ; Stampacchia, Enzo
Author_Institution
Dept. of Electr. Eng., Padova Univ., Italy
fYear
2002
fDate
2002
Firstpage
110
Lastpage
115
Abstract
The paper analyzes the performance of a servo system with torque disturbance observer when the observer bandwidth is high enough to affect the servo dynamics. The main outcome of the analysis is the under-damped or even unstable behavior of the system. Another outcome is the limited range allowable for the parameter mismatch to keep the system stable. The analysis, carried out in the discrete time, is substantiated by experimental results.
Keywords
observers; servomechanisms; stability; discrete time; high-bandwidth torque disturbance observer; observer bandwidth; parameter mismatch; performance analysis; servo system; stability analysis; torque disturbance observer; under-damped behavior; unstable behavior; Acceleration; Bandwidth; Delay estimation; Friction; Low pass filters; Performance analysis; Servomechanisms; Servomotors; Stability; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2002. 7th International Workshop on
Print_ISBN
0-7803-7479-7
Type
conf
DOI
10.1109/AMC.2002.1026900
Filename
1026900
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