Open AccessCombined linear and non‐linear controller design for motor position regulation
Author(s) -
Cheng Guoqing
Publication year - 2018
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2017.4814
Subject(s) - control theory (sociology) , linear motor , robustness (evolution) , servomechanism , servomotor , overshoot (microwave communication) , robust control , control engineering , machine control , controller (irrigation) , digital control , servo , engineering , control system , computer science , control (management) , mechanical engineering , agronomy , biochemistry , chemistry , electrical engineering , artificial intelligence , biology , gene
A composite robust controller is proposed for typical motor servo systems subject to control saturation and unknown disturbance. The controller contains a linear servo control law which achieves a fast response, and a non‐linear control part to suppress the overshoot. The unknown disturbance is assumed to have a constant rate of change, and is treated as an extended state of the system. A reduced‐order observer is then designed to estimate the unmeasurable state and disturbance for control and compensation. The controller is applied to a permanent magnet synchronous motor for position regulation, and digital simulation and experimental test are conducted to verify the superior performance and robustness of the design.