Title :
Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators
Author :
Beijen, Michiel A. ; Heertjes, Marcel F. ; Butler, Hans ; Steinbuch, Maarten
Author_Institution :
Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands
Abstract :
With disturbance feedforward compensation (DFC), input disturbances are measured and compensated to cancel the effect of the disturbance. Perfect cancellation is not possible in practice due to the causal nature of DFC, in which the compensation generally comes too late. Therefore, non-perfect plant inversion, controller discretization and sensor dynamics lead to a non-zero residual error. The properties of this residual error are described in the frequency domain using a theoretical framework that is closely related to the design constraints known from filtering theory. It is shown that, like in feedback control systems, performance limitations of DFC systems are described by a waterbed effect. An experimental validation is included to demonstrate the properties of the residual error on an active hard-mounted vibration isolation setup.
Keywords :
compensation; feedback; feedforward; frequency-domain analysis; sensors; vibration isolation; DFC; active hard-mounted vibration isolation setup; active hard-mounted vibration isolators; controller discretization; design constraints; disturbance feedforward compensation; feedback control systems; filtering theory; frequency domain; nonperfect plant inversion; nonzero residual error; performance trade-off; sensor dynamics; waterbed effect; Cutoff frequency; Feedforward neural networks; Frequency-domain analysis; Isolators; Sensitivity; Transfer functions; Vibrations;
Conference_Titel :
American Control Conference (ACC), 2015
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171051