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

M.A. Beijen; M.F. Heertjes; H. Butler; M. Steinbuch

doi:10.1109/ACC.2015.7171051

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

M.A. Beijen, M.F. Heertjes, H. Butler, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

14 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	2149-2154
ISBN (Print)	978-1-4799-8685-9
DOIs	https://doi.org/10.1109/ACC.2015.7171051
Publication status	Published - 2015
Event	2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA - Hilton Palmer House, Chicago, IL, United States Duration: 1 Jul 2015 → 3 Jul 2015 http://acc2015.a2c2.org/

Conference

Conference	2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA
Abbreviated title	ACC 2015
Country	United States
City	Chicago, IL
Period	1/07/15 → 3/07/15
Internet address	http://acc2015.a2c2.org/

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Beijen, M. A., Heertjes, M. F., Butler, H., & Steinbuch, M. (2015). Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators. In Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois (pp. 2149-2154). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2015.7171051

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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.",

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Beijen, MA, Heertjes, MF , Butler, H & Steinbuch, M 2015, Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators. in Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois. Institute of Electrical and Electronics Engineers, Piscataway, pp. 2149-2154, 2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA, Chicago, IL, United States, 1/07/15. https://doi.org/10.1109/ACC.2015.7171051

Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators. / Beijen, M.A.; Heertjes, M.F.; Butler, H.; Steinbuch, M.

Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois. Piscataway : Institute of Electrical and Electronics Engineers, 2015. p. 2149-2154.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - 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.

AB - 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.

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Beijen MA, Heertjes MF , Butler H , Steinbuch M. Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators. In Proceedings of the 2015 American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois. Piscataway: Institute of Electrical and Electronics Engineers. 2015. p. 2149-2154 https://doi.org/10.1109/ACC.2015.7171051