The zero phase error tracking controller (ZPETC) in motion control, as proposed by Tomizuka (1987) , renders the desirable zero phase error, but with a limited gain response. Moreover, a ZPETC, which is basically in a feedforward control structure, is very sensitive to modeling error. To improve the tracking accuracy of the ZPETC, this paper presents an optimal ZPETC design with a concise polynomial digital prefilter (DPF). The parameters of this well-designed DPF are obtained through the derived L/sub 2/-norm optimization. By cascading the developed DPF to the ZPETC, the resultant optimal ZPETC greatly improves the bandwidth of the tracking control systems while maintaining the zero phase error. Compared with other optimal approaches, the present design leads to much simpler procedures and fewer computations. Furthermore, the proposed optimal ZPETC can be adequately implemented as an adaptive ZPETC by including real-time estimation technique to cope with the external load perturbation and parameter variation. Compared with the other adaptive approaches, the optimal concept is used in the present adaptive ZPETC, and it also renders more accurate results because of its improved magnitude response. Experimental results on a DC servo table with different controllers indicate that when there is no loading, the present optimal ZPETC achieves the best tracking performance. Moreover, the adaptive ZPETC achieves the most satisfactory results when an external load is applied.
展开▼
机译：Tomizuka（1987）提出的运动控制中的零相位误差跟踪控制器（ZPETC）呈现了理想的零相位误差，但增益响应有限。此外，基本上处于前馈控制结构中的ZPETC对建模误差非常敏感。为了提高ZPETC的跟踪精度，本文提出了一种具有简洁多项式数字预滤波器（DPF）的最佳ZPETC设计。通过导出的L / sub 2 / norm优化获得了设计良好的DPF的参数。通过将开发的DPF级联到ZPETC，所得到的最佳ZPETC在保持零相位误差的同时，极大地改善了跟踪控制系统的带宽。与其他最佳方法相比，本设计可以简化程序，减少计算量。此外，通过包括实时估计技术以应对外部负载扰动和参数变化，所提出的最佳ZPETC可以适当地实现为自适应ZPETC。与其他自适应方法相比，本发明的自适应ZPETC使用了最佳概念，并且由于其改善了幅度响应，因此还提供了更准确的结果。在具有不同控制器的DC伺服工作台上的实验结果表明，当没有负载时，当前的最佳ZPETC可获得最佳跟踪性能。此外，当施加外部负载时，自适应ZPETC可获得最令人满意的结果。
展开▼
