Time delay compensation method based on reflected wave rejection

Eiichi Saito, Roberto Oboe, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Several time delay compensation methods for teleoperation systems have been researched for a long time (e.g. Smith predictors, communication disturbance observers, etc). Based on the communication disturbance observer, the authors have proposed a vibration suppression scheme for resonant systems, based on reflected wave rejection and a wave compensator. From this method, it is found that vibration in resonant system can be suppressed by making use of a time delay compensation method and it is observed that a reflected wave induces vibrations. Taking a dual approach, this paper proposes a time delay compensation method, based on our previously developed reflected wave rejection, used for the vibration suppression in the resonant system. Firstly, a wave representation of time delay system is derived and an equivalence of wave and time delay systems is clarified. It is also clarified that a cause of vibration in the time delay system is a reflected wave as well as in a resonant system. Finally, it is shown how the reflected wave rejection can be seems as a time delay compensation method, to be used in time delay systems. The validity of the proposed method is verified by the experimental results.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages4276-4281
Number of pages6
DOIs
Publication statusPublished - 2013
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period11/10/1311/14/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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