Design and robustness analysis of dual stage servo system

Autor:	H. Numasato, Jiagen Ding, M. Tomizukas
Rok vydání:	2000
Předmět:	Phase difference Engineering business.industry Control engineering Plant Servomechanism law.invention Computer Science::Robotics Computer Science::Systems and Control Control theory Robustness (computer science) law Actuator business Closed loop Dual stage Servo
Zdroj:	Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).
DOI:	10.1109/acc.2000.878678
Popis:	This paper presents the design of a digital dual stage servo and the analysis of its robust stability and performance. The dual stage actuator system consists of a coarse actuator and a fine actuator. The design consists of two steps: 1) the coarse actuator loop is designed for basic performance and stability; and 2) the fine actuator loop is designed by loop shaping for superior performance of the overall system. Appropriate contribution of each actuator to the final output is adjusted differently in different frequency range. An important consideration in the second stage is to ensure that the phase difference is within /spl plusmn/120 degrees between the coarse and fine actuator paths when the magnitudes of the two are close to each other. Robustness is studied by the /spl mu/-analysis after the closed loop system is augmented by various weightings. Simulation and experimental results justify the proposed design.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::7a178089c242c856166a8b332b09c061 https://doi.org/10.1109/acc.2000.878678 Zobrazit plný text záznamu