Research Papers

On Relationship Between Time-Domain and Frequency-Domain Disturbance Observers and Its Applications

[+] Author and Article Information
Jinya Su

Department of Aeronautical and
Automotive Engineering,
Loughborough University,
Loughborough LE11 3TU, UK
e-mail: J.Su2@lboro.ac.uk

Wen-Hua Chen

Department of Aeronautical and
Automotive Engineering,
Loughborough University,
Loughborough LE11 3TU, UK
e-mail: W.Chen@lboro.ac.uk

Jun Yang

School of Automation,
Southeast University,
Nanjing 210096, China
e-mail: j.yang84@seu.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 7, 2015; final manuscript received April 20, 2016; published online June 15, 2016. Assoc. Editor: Soo Jeon.

J. Dyn. Sys., Meas., Control 138(9), 091013 (Jun 15, 2016) (11 pages) Paper No: DS-15-1428; doi: 10.1115/1.4033631 History: Received September 07, 2015; Revised April 20, 2016

This paper provides a generic analysis of the relationship between time- and frequency-domain disturbance observer (DOB) design methodology. It is discovered that the traditional frequency-domain DOBs using a low-pass filter with unity gain can only handle disturbances satisfying matching condition, while the traditional time-domain DOBs always generate an observer with a high-order. A functional disturbance observer (FDOB) is proposed to improve the existing results together with its design guideline, frequency analysis, and existence condition. Compared with the existing frequency-domain DOBs, the proposed FDOB can handle more classes of disturbances, while compared with the existing time-domain DOBs, the proposed FDOB can generate an observer with a lower-order. Numerical examples are presented to illustrate the main findings of this paper including a rotary mechanical system of nonminimum phase.

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Fig. 1

The diagram of classic Q-filter-based DOB in Ref. [12]

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Fig. 2

The diagram of a generic DOB structure

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Fig. 3

Frequency-domain interpretation of time-domain DOBs

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Fig. 4

Matched step disturbance estimation and its error

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Fig. 5

Mismatched step disturbance estimation and its error

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Fig. 6

Harmonic disturbance estimation and its error

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Fig. 7

Biased harmonic disturbance estimation using FDOB

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Fig. 8

Position control with and without disturbance compensation



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