This paper describes how piezoelectric accelerometers can be applied to motion control systems for performance enhancements. Piezoelectric accelerometers are known for their wide frequency ranges to sense dynamic acceleration. However, they are unable to measure static and quasi-static acceleration. Since positional sensors generally exist in motion control systems, this paper presents two acceleration observers that fuse piezoelectric accelerometers and positional sensors and are able to achieve high-quality observation of acceleration, including static and quasi-static components. The proposed observers are applied to a robotic manipulator, and experimental results confirm feasibility and effectiveness of the proposed acceleration observers.

本文介绍了如何将压电加速度计应用于运动控制系统以增强性能。压电加速度计以其宽广的频率范围而著称，可以感应动态加速度。但是，他们无法测量静态和准静态加速度。由于位置传感器通常存在于运动控制系统中，因此本文提出了两个加速度观测器，它们融合了压电加速度计和位置传感器，并且能够实现对加速度的高质量观​​测，包括静态和准静态分量。拟议的观测器应用于机器人操纵器，实验结果证实了拟议的加速度观测器的可行性和有效性。