Simplified Multi-rate Control For Reduced Residual Vibration -Frequency Domain Analysis

摘要

This paper addresses the issues of residual vibration in a closed loop servomechanism for an electromechanical actuator in which the sampling frequency is restricted due to practical limitations. This paper provides systematic analysis of the problem in the frequency domain and its effect on the performance. The paper also provides a solution to minimize the problem. Novel design of multi-rate notch filter is presented, which can be tuned easily making it suitable for adaptive application. Moreover, a simplified design of multi-rate observer is presented. The result is compared with that of methods proposed by other researchers. The merits of the multi-rate design are demonstrated by experiments.