2026-03-05T07:58:46Z https://kumadai.repo.nii.ac.jp/oai

oai:kumadai.repo.nii.ac.jp:00034436 2023-09-14T00:38:05Z 426:428

Signal-Limitation Filters to Simultaneously Satisfy Constraints of Velocity and Acceleration Signals Okajima, Hiroshi Nakabayashi, Yuta 松永, 信智 マツナガ, ノブトモ Matsunaga, Nobutomo 松永 マツナガ Matsunaga 信智 ノブトモ Nobutomo 岡島, 寛 オカジマ, ヒロシ 中林, 佑多 ナカバヤシ, ユウタ 松永, 信智 マツナガ, ノブトモ Matsunaga, Nobutomo 松永 マツナガ Matsunaga 信智 ノブトモ Nobutomo This is an Accepted Manuscript of an article published by Taylor & Francis in SICE Journal of Control, Measurement, and System Integration on 18/1/2021, available online: http://www.tandfonline.com/10.9746/jcmsi.13.1 信号制限フィルタ 加速度制限信号 速度制限信号 Velocity limit Acceleration Limit Signal Limitation In this paper, we propose a filter structure whose output satisfies the velocity and acceleration constraints for any input signals. In the field of factory automation, step signals are sometimes converted into trapezoidal waves to satisfy the intended velocity limitations. This helps the operators avoid overload in industrial robots. In some cases, physical protection of the equipment, safety, and ride quality can be ensured by limiting the characteristics of input signals in actual plants. A signal-limitation filter is proposed for the input signal to satisfy the intended signal limit. In the previous study, a signal-limitation filter structure was provided as a simple unit-feedback control with a saturation function. The filter structure in the previous study had a delay between the input and output signals because it is difficult to design gains considering both the saturating and non-saturating cases. To solve this problem, we propose a novel filter structure that includes feedforward and feedback components. Applying this filter structure with feedforward terms including saturation enables us to fulfill the desired limitations for arbitrary input signals. We evaluated the proposed structure in a signal-limitation filter that simultaneously limits the velocity and acceleration. The simulation results demonstrate the effectiveness of our proposed filter. Taylor & Francis 2020-01-01 eng journal article AM http://hdl.handle.net/2298/00045875 https://kumadai.repo.nii.ac.jp/records/34436 10.9746/jcmsi.13.1 1882-4889 SICE Journal of Control, Measurement, and System Integration 13 1 1 8 https://kumadai.repo.nii.ac.jp/record/34436/files/10-9746_jcmsi-13-1.pdf application/pdf 2.5 MB