Disturbance Observer based friction compensator for a DC motor

2014 ◽  
Author(s):  
M. K. C. Dinesh Chinthaka ◽  
R. U. G. Punchihewa ◽  
A. M. Harsha S. Abeykoon
Keyword(s):  
Disturbance Observer ◽  
Dc Motor ◽  
Friction Compensator

scholarly journals Super-Twisting Algorithm for DC Motor Position Control via Disturbance Observer

2015 ◽  
Vol 48 (30) ◽  
pp. 43-48 ◽  
Author(s):  
Mohamed Guermouche ◽  
Sofiane Ahmed Ali ◽  
Nicolas Langlois
Keyword(s):  
Disturbance Observer ◽  
Position Control ◽  
Dc Motor ◽  
Twisting Algorithm

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

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
He Zhang ◽  
Liang Ge ◽  
Mingjiang Shi ◽  
Qing Yang
Keyword(s):  
Control System ◽  
Disturbance Observer ◽  
Motor System ◽  
Sliding Mode ◽  
Dc Motor ◽  
Sliding Mode Disturbance Observer ◽  
Modeling Errors ◽  
Parameter Variations ◽  
Dc Motor Control ◽  
Motor Control System

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.

scholarly journals Design of a Low-Order Harmonic Disturbance Observer with Application to a DC Motor Position Control

Energies ◽  
2020 ◽  
Vol 13 (5) ◽  
pp. 1020
Author(s):  
In Hyuk Kim ◽  
Young Ik Son
Keyword(s):  
Disturbance Observer ◽  
Position Control ◽  
Uncertain System ◽  
Dc Motor ◽  
Singular Perturbation Theory ◽  
Layer System ◽  
Unknown Amplitude ◽  
Nominal Performance ◽  
The Stability ◽  
Low Order

Among various tools implemented to counteract undesired effects of time-varying uncertainties, disturbance observer (DOB)-based controller has gained wide popularity as a result of its flexibility and efficacy. In this paper, a low-order DOB that is capable of compensating for the effects of a biased harmonic disturbance, as well as plant uncertainties is presented. The proposed low-order DOB can asymptotically estimate a harmonic disturbance of known frequency but unknown amplitude and phase, by using measurable output variables. An analysis carried out by using the singular perturbation theory shows that the nominal performance of the system can be recovered from a real uncertain system when the observer gain is sufficiently large. The observer gains that result in the performance recovery of the real uncertain system are obtained from the stability condition of the boundary-layer system. To test the performance of the proposed observer, computer simulations with a numerical example and laboratory experiments using a DC motor system have been carried out. The experimental results show that the proposed low-order DOB-based control scheme can provide enhanced performance.

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