加速度觀測器之設計及其於運動控制系統之應用

Acceleration Observer and Extended Acceleration Observer are proposed in this project to produce a high-quality acceleration signal for both linear motion stage and a two-link robotic manipulator. Currently, there are many applications of an acceleration signal to modern motion control systems, including acceleration-assisted feedback control, acceleration-based disturbance observer (ADOB), accelerometer- enhanced velocity estimation, and sensorless force control. The success of these applications depends on the acceleration signal's quality. Ubiquitous capacitive accelerometers can measure the dc component of an acceleration but have limited measurement bandwidth with poor signal-to-noise ratio. Contrarily, piezoelectric accelerometers have wide measurement bandwidth but cannot measure low-frequency components of an acceleration. In this project, the proposed acceleration observers use the piezoelectric accelerometer and the positional sensor that commonly exists in a motion control system. In contrast to the capacitive accelerometer, the proposed acceleration observers have wide dynamic bandwidth owing to the use of a piezoelectric accelerometer. Concerning the piezoelectric accelerometer, the proposed acceleration observers can estimate low-frequency components of an acceleration. Compared with existing acceleration observers, the proposed observers do not require a plant’s model and are thus completely insensitive to model uncertainties. Moreover, the proposed observers do not directly differentiate the positional signal twice with respect to time and are thus more immune to positional sensor noise. This project focuses on applying the proposed observers to a linear motion stage. Moreover, the proposed observers are extended to the control of a two-link robotic manipulator. These applications were done experimentally in order to investigate applicability and feasibility of the proposed scheme. Since the proposed scheme has been practically applied to a physical mechatronic system, the graduate students involved in this project have received advanced training in Mechatronics and System Integration.