标题：Multiple-disturbance rejection for high precision positioning of a VCM servo gantry
作者：Lyu, Zeshan ;Yan, Peng ;Zhang, Zhen ;Guo, Lei
作者机构：[Lyu, Zeshan ;Yan, Peng ;Guo, Lei ] School of Automation Science and Electrical Engineering, Beihang University, Beijing, China;[Zhang, Zhen ] Beijing 更多
会议名称：19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
会议日期：24 August 2014 through 29 August 2014
来源：IFAC Proceedings Volumes (IFAC-PapersOnline)
关键词：Adaptive filter; Disturbance rejection; Mechatronics; Robust control
摘要：This paper presents an multiple disturbance rejection approach for rejecting narrow-band disturbances as well as norm-bounded random disturbances, with applications to high precision positioning of a Voice Coil Motor (VCM) actuated servo stage. An adaptive optimal phase filter design method is proposed for the rejection of frequency-varying narrow-band disturbances at unknown frequency range. With a parallel connection of the proposed adaptive filter, a robust H∞ controller can be synthesized with mixed sensitivity optimization for the purpose of both robust stability and rejection of norm-bounded random disturbances. The proposed control architecture is implemented to a VCM servo gantry to achieve high precision positioning in the presence of various disturbances. © IFAC.