カメラと加速度センサを用いたモーター駆動系の制御器設計

抄録

A state estimator that uses both a position sensor and an acceleration sensor is used to improve the position control performance of the motor-driven system. If the sampling cycle of the position sensor is slower than the control cycle and the measurement delay is large, the position cannot be estimated accurately, resulting in deterioration of control performance. Therefore, in this paper, we propose to apply the Smith method to a controller that uses a state observer using both a camera and an accelerometer in order to improve control performance. The validity of the angular controller using the Smith method with state observer is verified by simulations and experiments.