Zero Phase Error Tracking Controllers With Optimal Gain Characteristics

1993 ◽  
Vol 115 (3) ◽  
pp. 311-318 ◽  
Author(s):  
Y. Funahashi ◽  
M. Yamada
Keyword(s):  
Control System ◽  
Phase Error ◽  
Tracking Performance ◽  
Output Data ◽  
Tracking Controllers ◽  
Tracking Controller ◽  
Phase Property ◽  
Feedforward Controller ◽  
Step Type ◽  
Zero Phase

Recently, a digital feedforward controller, called a Zero Phase Error Tracking Controller (ZPETC), has been proposed. In this controller, the overall frequency response between the desired output and the controlled output exhibits zero phase shift for all frequencies by using a few steps of the future desired output data. In this paper, two extensions of ZPETC’s are proposed: a ZPETC with deadbeat tracking performance and an L2-Optimal ZPETC. These ZPETC’s can provide the overall control system with not only the above phase property but also the excellent tracking performance for a desired output and the superior gain property, respectively. Moreover, a ZPETC with both the excellent tracking performance for a step-type and ramp-type desired output and the superior gain property, called an L2-Optimal ZPETC with deadbeat tracking performance, is presented.

Precision motion control of permanent magnet linear synchronous motor servo system based on an integrated controller with inertia variation compensation

2012 ◽  
Vol 227 (7) ◽  
pp. 1481-1494 ◽  
Author(s):  
Zhijun Li ◽  
Chengying Liu ◽  
Fanwei Meng ◽  
Kai Zhou
Keyword(s):  
Permanent Magnet ◽  
Motion Control ◽  
Disturbance Observer ◽  
Phase Error ◽  
Servo System ◽  
Tracking Performance ◽  
Tracking Controller ◽  
Integrated Controller ◽  
Feed Forward Controller ◽  
Zero Phase

To achieve high robustness and precise motion control of permanent magnet linear synchronous motor servo system, an integrated controller is presented, including a velocity feed forward controller, a zero phase error tracking controller, a disturbance observer and inertia variation compensator. The velocity feed forward controller and the zero phase error tracking controller are included to improve tracking performance and the disturbance observer is involved to enhance disturbance rejection. However, both the zero phase error tracking controller and the disturbance observer are sensitive to inertia variation which often occurs in servo systems. So, an inertia compensator, which consists of a perfect tracking controller for the current loop and a compensation gain, is proposed to retain tracking performance. Detailed experiments are conducted on a PMLSM servo system to confirm the effectiveness of the integrated controller.

Concurrent Design of Continuous Zero Phase Error Tracking Controller and Sinusoidal Trajectory for Improved Tracking Control

1998 ◽  
Vol 123 (1) ◽  
pp. 127-129 ◽  
Author(s):  
Hyung-Soon Park ◽  
Pyung Hun Chang ◽  
Doo Yong Lee
Keyword(s):  
Continuous Time ◽  
Phase Error ◽  
Phase System ◽  
Pass Filter ◽  
Nonminimum Phase ◽  
Tracking Controller ◽  
Feedforward Controller ◽  
Gain Errors ◽  
High Pass ◽  
Zero Phase

A trajectory control strategy for a nonminimum phase system is proposed. A continuous-time version of the Zero Phase Error Tracking Controller (ZPETC), which is a well-known discrete-time feedforward controller, is considered. In the continuous-time case, the overall transfer function consisting of the ZPETC and the closed-loop plant exhibits high-pass filter characteristics. This introduces serious gain errors between the desired and actual output if the desired output is made directly as the ZPETC’s input. This paper proposes the use of a specially designed sinusoidal trajectory to compensate for the gain errors. The sinusoidal trajectory imparts a synergic effect to tracking performance when combined with the continuous ZPETC. Continuous ZPETC with sinusoidal trajectory is evaluated successfully by applying to a nonminimum phase plant, single link flexible arm.

Stability Robustness of Repetitive Control Systems With Zero Phase Compensation

1990 ◽  
Vol 112 (3) ◽  
pp. 320-324 ◽  
Author(s):  
C. C. H. Ma
Keyword(s):  
Control System ◽  
Large Class ◽  
Control Systems ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Three Solutions ◽  
Phase Compensation ◽  
Saturation Nonlinearity ◽  
Stability Robustness ◽  
Zero Phase

It is shown that a special zero phase control (ZPC) system introduced by Tomizuka is L∞ stable against a large class of common nonlinearities. However, it still suffers from the generic nonrobustness problem associated with a linear repetitive control system when subjected to a saturation nonlinearity. For the special ZPC system, however, three solutions exist for the problem, two of which do not degrade the repetitive tracking performance.

Adaptive Zero-Phase Error-Tracking Controllers with Advance Learning

2004 ◽  
Vol 32 (2) ◽  
Author(s):  
M.M. Mustafa ◽  
N.R. Yaacob ◽  
N.A. Nik Mohamed
Keyword(s):  
Phase Error ◽  
Tracking Controllers ◽  
Zero Phase

Sine phase compensation combining an amplitude phase controller and a discrete feed-forward compensator for electro-hydraulic shaking tables

2017 ◽  
Vol 40 (11) ◽  
pp. 3377-3389 ◽  
Author(s):  
Ge Li ◽  
Gang Shen ◽  
Zhen-Cai Zhu ◽  
Xiang Li ◽  
Wan-Shun Zang
Keyword(s):  
Control Strategy ◽  
Phase Error ◽  
Phase Delay ◽  
Shaking Table ◽  
Response Signal ◽  
Feed Forward ◽  
Amplitude Attenuation ◽  
Tracking Controller ◽  
Phase Deviation ◽  
Zero Phase

This article presents a novel control strategy on an electro-hydraulic shaking table under the acceleration control combining an amplitude phase controller and a zero phase error tracking controller with a discrete feed-forward compensator. Because of the electro-hydraulic system’s nonlinearity, phase delay and amplitude attenuation exist in the acceleration response signal inevitably when the electro-hydraulic shaking table system is excited by a sine vibration signal. Moreover, the phase delay of the electro-hydraulic shaking table is composed of phase deviation and actuator delay. For improving the acceleration tracking accuracy, an amplitude phase controller is employed to compensate the phase deviation and amplitude attenuation by introducing weights to adjust the reference signal. Meanwhile, the discrete feed-forward compensator is applied to compensate the actuator delay. As an offline compensator, the zero phase error tracking controller is employed to compensate the phase delay of the response signal and improve the convergence speed of the proposed controller. Overall, the proposed control strategy combines the merits of these three controllers with better tracking performance demonstrated by simulation and experimental results.

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