Signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals

In this paper, we propose a filter structure to satisfy velocity and acceleration limitations for arbitrary input signals. The shape of step signals is sometimes converted into trapezoidal wave in order to satisfy velocity limit in FA field. Then we can prevent an overload for the robot. In some cases, physical protection of equipments, safety and ride quality are achieved with limitation of input signals for actual plants. For achieving signal limitation, signal limitation filter is proposed. Previous filter structure was designed only simple feedback control with the saturation function. This structure required gain designing for each signals and had delays between input and output signals. To solve this problem, we propose a filter which is based on structure of the model error compensator(MEC). MEC is a compensator to minimize the gap between an actual plant and its nominal model. Applying this structure and feedforward terms including saturations enables us to fulfill desired limitations for any input signals. Simulation results show that effectiveness of our proposed filter.