Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer | Zendy

He Zhang | Zendy; Liang Ge | Zendy; Mingjiang Shi | Zendy; Qing Yang | Zendy

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Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

Author(s) -

He Zhang,

Liang Ge,

Mingjiang Shi,

Qing Yang

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/759147

Subject(s) - control theory (sociology) , robustness (evolution) , feed forward , sliding mode control , dc motor , linear quadratic regulator , control engineering , controller (irrigation) , engineering , control system , robust control , computer science , nonlinear system , control (management) , agronomy , biochemistry , chemistry , physics , electrical engineering , artificial intelligence , quantum mechanics , biology , gene

Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO) is proposed based on the global sliding mode (GSM) control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR) optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering

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