Open AccessRobust tracking performance of linear induction motor‐based automatic picking system using a high‐gain disturbance observer
Author(s) -
Choi JungHyun,
Kim JungSu,
Kim KyeongHwa
Publication year - 2016
Publication title -
iet electric power applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.815
H-Index - 97
eISSN - 1751-8679
pISSN - 1751-8660
DOI - 10.1049/iet-epa.2015.0146
Subject(s) - control theory (sociology) , robustness (evolution) , induction motor , linear quadratic regulator , matlab , linear induction motor , linear motor , thrust , robust control , control engineering , pulse width modulation , engineering , computer science , control system , voltage , mechanical engineering , control (management) , artificial intelligence , electrical engineering , biochemistry , chemistry , aerospace engineering , gene , operating system
To operate the movable ejectors of an automatic picking system (APS) with high dynamics and high precision, a robust speed tracking controller design for a single‐sided linear induction motor (LIM) is presented using a high‐gain disturbance observer method. The thrust disturbance as well as the mechanical parameter variation due to the mass change influences directly the tracking control performance of APS. To guarantee robustness in the presence of such uncertainty, a high‐gain disturbance observer‐based linear quadratic regulator (LQR) is designed from the mechanical dynamics. Since the estimated disturbance effectively cancels out real uncertainties in the system, the resulting system behaves like the closed‐loop system consisting of the disturbance‐free nominal model and the LQR. Since MATLAB–Simulink does not support a library for a LIM, a Simulink library model has been developed using the LIM dynamics. To verify that the proposed scheme has a robust control nature, the comparative simulations are carried out based on the library. The whole control system is implemented using DSP TMS320F28335 for a LIM driven by a three‐phase voltage‐fed pulse‐width modulation inverter. Through comparative experimental results in the presence of disturbances, the effectiveness and robustness of the proposed scheme are verified.