@article{oai:metro-cit.repo.nii.ac.jp:00000109,
 author = {青木, 立 and Aoki, Tatsu},
 journal = {東京都立産業技術高等専門学校研究紀要, Research reports of Tokyo Metropolitan College of Industrial Technology},
 month = {Mar},
 note = {P(論文), In the embedded mechatronic systems, the mechanisms are easy to vibrate, since these mechanisms are designedto be light and compact. In such control systems, a velocity feedback controller is often used to damp out these mechanicaloscillations. On the other hand, in the embedded mechatronic control systems, fixed-point microprocessors with shortword length are used for energy, space, and cost saving. This paper considers finite word length (FWL) effects when implementinga discrete-time velocity feedback controller in fixed-point arithmetic. In order to improve the control accuracy,a filter is inserted so that the noise in the velocity signal is filtered out. Though three filters are examined, simulation resultsshow that all these filters are not effective. Since the magnitude of the velocity signal is almost equal to the quantizationstep in fixed-point arithmetic, the velocity signal is disturbed due to arithmetic error in fixed-point arithmetic. Thus, inorder to increase the signal-to-noise ratio, the quantization step is made small. As a result, the arithmetic error is drasticallyreduced and the control accuracy is greatly improved. According above, scaling is a significant factor to realize a velocityfeedback controller based on fixed-point arithmetic.},
 pages = {21--25},
 title = {固定小数点演算に基づいた速度フィードバックコントローラの実装 ー 制御精度の向上 ー},
 volume = {5},
 year = {2011},
 yomi = {アオキ, タツ}
}