Deep RL Based Notch Filter Design Method for Complex Industrial Servo Systems

This paper proposes a deep reinforcement learning (deep RL) method for simultaneously designing several notch filters in complex industrial servo systems. Notch filters are highly effective for suppressing resonances in motion control systems and are widely utilized in industry. However, severe limi...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 18; no. 12; pp. 2983 - 2992
Main Authors Oh, Tae-Ho, Han, Ji-Seok, Kim, Young-Seok, Yang, Dae-Young, Lee, Sang-Hoon, Cho, Dong-Il “Dan”
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.12.2020
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Algorithms
Control
Control Theory and Applications
Design techniques
Engineering
Filter design (mathematics)
Mechatronics
Motion control
Notch filters
Parameters
Robotics
Stability
System effectiveness
Tuning
Vibration mode
제어계측공학
highly complex servo system
Deep reinforcement learning
resonance suppression
multiple notch filters
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Summary:This paper proposes a deep reinforcement learning (deep RL) method for simultaneously designing several notch filters in complex industrial servo systems. Notch filters are highly effective for suppressing resonances in motion control systems and are widely utilized in industry. However, severe limitations exist in complex servo systems because there are many vibration modes that are difficult to identify. In such cases, several notch filters must be used, but the task of tuning these filters involves lengthy empirical procedures by well-experienced engineers. To automate this tuning process, this paper proposes a novel design method that can design several notch filters simultaneously for the first time. In this method, a deep deterministic policy gradient (DDPG) algorithm with a vector stability margin as the reward function is utilized to find filter parameters in the frequency domain. The proposed method simultaneously finds a set of many parameters for several notch filters that are optimal with respect to stability. Using a real industrial servo system that has multiple resonances, it is demonstrated that the proposed method effectively finds the optimal parameters for several notch filters and successfully suppresses multiple resonances to provide desired performances.
Bibliography:http://link.springer.com/article/10.1007/s12555-020-0153-y
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-020-0153-y