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

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Article number9245593
Pages (from-to)396-405
Number of pages10
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
Volume68
Issue number1
DOIs
Publication statusPublished - 2021 Jan

Keywords

  • auto-tuner
  • Ball balancing
  • disturbance observer
  • positioning
  • state estimation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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