Application of Notch Filter Design for Being Compensators in Mechanical Gimbal Systems

陷波濾波器設計應用於機械式環架系統之補償器

Ing-Jiunn Su(蘇英俊) ； Yau-Hwa Tseng(曾耀華) ； Karl Yung-Ta Huang(黃勇達)

《中正嶺學報》 44卷2期 (2015/11) Pp. 11-22

摘要

In the control system, notch filters can reduce the mechanical resonances of the plant at frequencies above the normal (or the margin) upper unity gain frequency. Let the gradual higher frequency sinusoidal signal be the command which inputs in the position and rate loop, an experiment of frequency response for the mechanical gimbal system in arbitrary elevation and azimuth angles can be practiced. Based on the result of the magnitude/phase response, some notch filters are utilized to eliminate the spike at specific frequencies whose design methods of transfer function and analogue circuit realization are summarized. Furthermore, a prototype implementation method of servo control system is given. Following the experimental structure, an example and the comparison of the frequency response before/after compensating will be presented in this paper.

關鍵字

notch filter ； servo control system ； Butterworth filter ； Chebyshev filter ； inverse Chebyshev filter ； frequency transformation ； general impedance convertor (GIC) circuit

並列摘要

於控制系統中，陷波濾波器可消除待測物的機械共振頻率高於正歸化值或者是邊界值之頻率信號，利用漸高頻率之弦波信號為命令，輸入至位置迴路與速度迴路中，其待測機械環架系統於任意水平與垂直角度頻率響應即可實驗之。基於前述實驗所得之大小與相位響應結果，陷波濾波器即被用來濾除特定頻率之突波，而其轉移函數及類比電路的實現設計方法將統整於本論文中。除此之外，本文亦提供一種典型的伺服控制系統電路方法來實現之。根據前述之實驗架構，將於本文舉例並比較補償前後頻率響應之實測資料。

並列關鍵字

陷波濾波器 ； 伺服控制系統 ； 巴特沃斯濾波器 ； 柴比雪夫濾波器 ； 反式柴比雪夫濾波器 ； 頻率轉換 ； 一般性阻抗轉換器電路