Noise Reduction in Torque Distrubance Observer using High Order Filtering

G. Sulligoi (Italy)


Motion Control, Position Resolution Error, TDO.


The paper deals with the servo systems for motion control applications based on the torque disturbance observer. A critical aspect can arise in those systems using an encoder to measure the angular position of the motor. An intrinsic error due to the finite resolution of the encoder is present in the measured position signal. This error behaves like a disturbance input and can hardly affect the output of the servo system. The paper outlines a quantitative evaluation of the resolution error and suggests the idea of using a high order low pass filtering to limit the acceleration affection phenomenon.

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