Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators

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Abstract

With disturbance feedforward compensation (DFC), input disturbances are measured and compensated to cancel the effect of the disturbance. Perfect cancellation is not possible in practice due to the causal nature of DFC, in which the compensation generally comes too late. Therefore, non-perfect plant inversion, controller discretization and sensor dynamics lead to a non-zero residual error. The properties of this residual error are described in the frequency domain using a theoretical framework that is closely related to the design constraints known from filtering theory. It is shown that, like in feedback control systems, performance limitations of DFC systems are described by a waterbed effect. An experimental validation is included to demonstrate the properties of the residual error on an active hard-mounted vibration isolation setup.
Original languageEnglish
Title of host publicationProceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2149-2154
ISBN (Print)978-1-4799-8685-9
DOIs
Publication statusPublished - 2015
Event2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA - Hilton Palmer House, Chicago, IL, United States
Duration: 1 Jul 20153 Jul 2015
http://acc2015.a2c2.org/

Conference

Conference2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA
Abbreviated titleACC 2015
CountryUnited States
CityChicago, IL
Period1/07/153/07/15
Internet address

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