Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors
Su, Y.X.
Zheng, C.H.
Duan, B.Y.
Sch. of Electro-Mech. Eng., Xidian Univ., Xi'an, China;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: June 2005
Volume: 52,
Issue: 3
On page(s): 814- 823
ISSN: 0278-0046
INSPEC Accession Number: 8464610
Digital Object Identifier: 10.1109/TIE.2005.847583
Current Version Published: 2005-05-31
Abstract
A highly robust automatic disturbances rejection controller (ADRC) is developed to implement high-precision motion control of permanent-magnet synchronous motors. The proposed ADRC consists of a tracking differentiator (TD) in the feedforward path, an extended state observer (ESO), and a nonlinear proportional derivative control in the feedback path. The TD solves the difficulties posed by low-order reference trajectories which are quantized at the sensor resolution, and the ESO provides the estimate of the unmeasured system's state and the real action of the unknown disturbances only based on a measurement output of the system. Simulations and experimental results show that the proposed ADRC achieves a better position response and is robust to parameter variation and load disturbance. Furthermore, the ADRC is designed directly in discrete time with a simple structure and fast computation, which make it widely applicable to all other types of derives.
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