Undersökning av mätsystem och regulatorstrukturer för industriella tillämpningar
This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod. The meanvaluemethod and the correlationmethod have given good results. The two other methods are: extended kalmanfiltering and computation of the angular velocity without using numeric method to compute the angle. Extended kalmanfilter gives the overall best result. In part two the control structure design of an industrial robot has been studied and how different sampling times and motorinertias affect the disturbance rejection and stability of the control loop. Different control structure designs have also been studied with the aim to suppress disturbances. Mainly H-infinity and GIMC designs have been compared with an ordinary PID controller. Here it can be shown that both the H-infinity and the GIMC controller yields good disturbance rejection. But both the methods lack in the robustness of model uncertainty.