Optimized High Precision Motion Controller Design Against Plant Perturbations Based on Integrated Frequency Response Data
Abstract
This article describes a robust controller design method against plant perturbations, based on multiple frequency response data (FRD). The performance of controller design methods based on FRD depends on the reliability of the data. However, this approach has not always been effective for plant whose characteristics are perturbed due to changes in state variables. Therefore, by using multiple FRD that include plant perturbations, we have enabled the design of high precision position controllers that are stable and have high disturbance suppression performance. The measured multiple FRD are integrated into a single FRD at each frequency (integrated FRD), reflecting the plant perturbations in the optimization calculations. The effectiveness of the proposed method has been verified through position control experiments using a ball screw whose FRD perturbs depending on the stage position.
