An Expansion of LESO for Motion Control with High Frequency Disturbance

Hai Qiang Wang; Hai Huang

doi:10.4028/www.scientific.net/AMM.668-669.437

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 668-669An Expansion of LESO for Motion Control with High...

An Expansion of LESO for Motion Control with High Frequency Disturbance

Abstract:

An improved controller based on ADRC is proposed for motion control with high frequency disturbance. Firstly, relationship between bandwidth of LESO and its parameters was mentioned, and bandwidth limitation come from the sensor noise is presented, indicating weakness of traditional LESO on compensation high frequency disturbance. Based on such analysis, two FIR filters is designed and added into the control loop, which compensated the specified high frequency disturbance and expanded bandwidth of LESO, acquiring a better motion control result. Simulations are taken, showing validity of the improved controller.

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Periodical:

Applied Mechanics and Materials (Volumes 668-669)

Pages:

437-440

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.668-669.437

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Online since:

October 2014

Authors:

Hai Qiang Wang, Hai Huang

Keywords:

ADRC, Bandwidth, Disturbance, LESO, Motion Control

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