Quasiperiodic Disturbance Observer for Wideband Harmonic Suppression

TL;DR

This paper introduces a quasiperiodic disturbance observer that effectively suppresses wideband harmonics in systems with quasiperiodic disturbances, ensuring robustness and avoiding amplification of aperiodic signals.

Contribution

A novel quasiperiodic disturbance observer design that combines a periodic-pass filter, zero-phase low-pass filter, and inverse plant model for improved harmonic suppression.

Findings

Achieves wideband harmonic suppression without amplifying aperiodic disturbances.

Effectively handles quasiperiodic disturbances with period variations and perturbations.

Demonstrates robustness and frequency accuracy in harmonic suppression.

Abstract

Periodic disturbances composed of harmonics typically occur during periodic operations, impairing performance of mechanical and electrical systems. To improve the performance, control of periodic-disturbance suppression has been studied, such as repetitive control and periodic-disturbance observers. However, actual periodic disturbances are typically quasiperiodic owing to perturbations in each cycle, identification errors of the period, variations in the period, and/or aperiodic disturbances. For robustness against quasiperiodicity, although wideband harmonic suppression is expected, conventional methods have trade-offs among harmonic suppression bandwidth, amplification of aperiodic disturbances, and deviation of harmonic suppression frequencies. This paper proposes a quasiperiodic disturbance observer to compensate for quasiperiodic disturbances while simultaneously achieving the wideband harmonic suppression, non-amplification of aperiodic disturbances, and proper harmonic suppression frequencies. A quasiperiodic disturbance is defined as comprising harmonics and surrounding signals. On the basis of this definition, the quasiperiodic disturbance observer is designed using a periodic-pass filter of a first-order periodic/aperiodic separation filter for its Q-filter, time delay integrated with a zero-phase low-pass filter, and an inverse plant model with a first-order low-pass filter. The periodic-pass filter achieves the wideband harmonic suppression while the zero-phase and first-order low-pass filters prevent the amplification of aperiodic disturbances and deviation of harmonic suppression frequencies. For the implementation, the Q-filter is discretized by an exact mapping of the s-plane to the z-plane, and the inverse plant model is discretized by the backward Euler method.