Acceleration Measurement Enhances the Bandwidth of Disturbance Observer in Motion Control Systems

The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but also the frequency range of disturbance estimation improves yet the motion controller becomes more sensitive to the noise of measurement system. This trade-off is generally explained by considering only the noise of sensors such as encoders. However, the digital implementation of the robust motion controller may significantly influence the noise sensitivity and performance of disturbance estimation in practice. This paper shows that the conventional DOb implemented by estimating velocity is subject to waterbed effect when the design parameters (i.e., sampling-time, nominal plant parameters and the bandwidth of the DOb) are not properly tuned in the digital motion controller synthesis. Therefore, the bandwidth of disturbance estimation is limited by waterbed effect in addition to the noise of velocity measurement system. To facilitate the digital motion controller synthesis, the design constraints of the conventional DOb are analytically derived in this paper. When the digital motion controller is implemented by estimating acceleration, waterbed effect does not occur, and good robust stability and performance can be achieved for all values of the design parameters of the acceleration measurement-based DOb. The bandwidth of disturbance estimation, however, cannot be freely increased due to the noise of acceleration sensors in practice. By employing Bode Integral Theorem in the discrete-time domain, the design constraints of the DOb-based digital motion control systems are clearly explained and it is shown that acceleration measurement can be used to enhance the bandwidth of the DOb, i.e., the performance and frequency range of disturbance estimation. To verify the proposed analysis and synthesis methods, simulation results are given for the DOb-based position and force control systems.