Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems without Velocity and Current Feedback Considering Actuator Dynamics

Yonghun Kim; Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TCSI.2020.3032128

Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems without Velocity and Current Feedback Considering Actuator Dynamics

Yonghun Kim
, Seok Kyoon Kim^*
, Choon Ki Ahn

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

Abstract

This paper develops an observer-based positioning scheme for ball-beam systems considering actuator dynamics. The practical constraints are handled systematically, including the mechanical dynamical nonlinearities, mismatched load disturbances, and parameter uncertainties. This result provides contributions as follows. First, parameter-independent observers exponentially estimate the ball velocity, motor speed, and its acceleration to remove the velocity, motor speed, and current feedback. Second, the auto-tuner automatically adjusts the desired closed-loop input-output behaviors to update its cut-off frequency in the transient operations. Third, observer-based active damping injection reduces the closed-loop ball position and actuator speed dynamics to 1 by pole-zero cancellation. Finally, disturbance observers act as a dynamic compensator by estimating the disturbances from model-plant mismatches such as dynamic nonlinearities, mismatched load disturbances, and parameter variations. The experimental study verifies the applicability of the proposed technique using the Quanser Ball-Beam hardware driven by an SRV02 servomotor.

Original language	English
Article number	9245593
Pages (from-to)	396-405
Number of pages	10
Journal	IEEE Transactions on Circuits and Systems I: Regular Papers
Volume	68
Issue number	1
DOIs	https://doi.org/10.1109/TCSI.2020.3032128
Publication status	Published - 2021 Jan

Bibliographical note

Funding Information:
Manuscript received July 28, 2020; revised September 21, 2020; accepted October 12, 2020. Date of publication October 30, 2020; date of current version December 21, 2020. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, in part by the Korea Agency for Infrastructure Technology Advancement (KAIA) funded by the Ministry of Land, Infrastructure and Transport under Grant TL20HBST-B158067-01, and in part by the NRF funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. This article was recommended by Associate Editor A. Oliveri. (Corresponding authors: Seok-Kyoon Kim; Choon Ki Ahn.) Yonghun Kim is with the Center of Echo-Friendly and Smart Vehicles, Korea Advanced Institute of Science and Technology, Daejeon 34051, South Korea (e-mail: [email protected]).

Publisher Copyright:
© 2004-2012 IEEE.

Keywords

Ball balancing
auto-tuner
disturbance observer
positioning
state estimation

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/TCSI.2020.3032128

Cite this

Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems without Velocity and Current Feedback Considering Actuator Dynamics. / Kim, Yonghun; Kim, Seok Kyoon; Ahn, Choon Ki.
In: IEEE Transactions on Circuits and Systems I: Regular Papers, Vol. 68, No. 1, 9245593, 01.2021, p. 396-405.

Research output: Contribution to journal › Article › peer-review

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abstract = "This paper develops an observer-based positioning scheme for ball-beam systems considering actuator dynamics. The practical constraints are handled systematically, including the mechanical dynamical nonlinearities, mismatched load disturbances, and parameter uncertainties. This result provides contributions as follows. First, parameter-independent observers exponentially estimate the ball velocity, motor speed, and its acceleration to remove the velocity, motor speed, and current feedback. Second, the auto-tuner automatically adjusts the desired closed-loop input-output behaviors to update its cut-off frequency in the transient operations. Third, observer-based active damping injection reduces the closed-loop ball position and actuator speed dynamics to 1 by pole-zero cancellation. Finally, disturbance observers act as a dynamic compensator by estimating the disturbances from model-plant mismatches such as dynamic nonlinearities, mismatched load disturbances, and parameter variations. The experimental study verifies the applicability of the proposed technique using the Quanser Ball-Beam hardware driven by an SRV02 servomotor.",

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AB - This paper develops an observer-based positioning scheme for ball-beam systems considering actuator dynamics. The practical constraints are handled systematically, including the mechanical dynamical nonlinearities, mismatched load disturbances, and parameter uncertainties. This result provides contributions as follows. First, parameter-independent observers exponentially estimate the ball velocity, motor speed, and its acceleration to remove the velocity, motor speed, and current feedback. Second, the auto-tuner automatically adjusts the desired closed-loop input-output behaviors to update its cut-off frequency in the transient operations. Third, observer-based active damping injection reduces the closed-loop ball position and actuator speed dynamics to 1 by pole-zero cancellation. Finally, disturbance observers act as a dynamic compensator by estimating the disturbances from model-plant mismatches such as dynamic nonlinearities, mismatched load disturbances, and parameter variations. The experimental study verifies the applicability of the proposed technique using the Quanser Ball-Beam hardware driven by an SRV02 servomotor.

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Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems without Velocity and Current Feedback Considering Actuator Dynamics

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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