High‐performance speed control based on an instantaneous speed observer considering the characteristics of a dc chopper in a low speed range

This paper proposes a new high‐performance speed control method for wide speed range, which is based on instantaneous speed observer considering the characteristics of dc chopper. In order to regulate a motor speed for wide speed reference including a very low speed range, this paper designs the instantaneous speed observer which uses the information of an armature current and an armature voltage. This observer has no effect of inertia variation and disturbance torque completely, but it has the effect of electrical parameter variation. Hence, this paper proposes a new identification algorithm to cancel out the estimation error caused by both the resistance variation and the voltage drop. The proposed observer can always estimate an instantaneous value of motor speed. The proposed total system becomes a new robust speed servo system for a wide speed range. © 1999 Scripta Technica, Electr Eng Jpn, 130(3): 77–87, 2000     

基于ZPETC的雕刻机直流伺服控制系统设计

为了提高雕刻机的跟踪性能和定位精度,首先在其直流伺服控制系统设计中引入了零相位误差跟踪控制器(ZPETC),然后通过模型辨识、非线性摩擦补偿及干扰观测器的设计来克服ZPETC存在的对系统建模误差和参数变化敏感的缺点.在上述研究的基础上,采用TMS320F2812型DSP设计了集ZPETC、PD控制器及干扰观测器一体的直流伺服控制系统.实验结果表明:为雕刻机所设计的直流伺服控制系统不仅有鲁棒性强和抗干扰能力强的特点,而且有良好的定位精度和跟踪性能.     

Anti‐Sway Crane Control Considering Wind Disturbance and Container Mass

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.     

Force sensorless robust tracking servo system suppressing periodic disturbance and sudden disturbance for optical disk system

This paper proposes a new force sensorless robust tracking servo system, which detects and suppresses both the periodic disturbance and the sudden disturbance without force sensor. The proposed system estimates both the periodic disturbance and the sudden disturbance and the sudden disturbance by using a new sudden disturbance observer and the memory of tracking error. In the proposed system, the influence of sudden disturbance is suppressed by the proposed sudden disturbance observer. On the other hand, the influence of periodic disturbance is suppressed by means of ZPET feed‐forward servo system. The experimental results point out that the proposed tracking servo system has a precise tracking response against both the periodic disturbance and the sudden disturbance. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 166(1): 82–90, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20614     

Robust speed control method for dc servomotors using adaptive gain law

The speed control ability of dc servomotors is affected by parameter variations and disturbance torque. In this paper, a robust speed control method for dc servomotors with a disturbance torque observer and a feedback controller is proposed. The disturbance torque observer is used for the compensation of parameter variations and disturbance. The feedback gain is adjusted in the aspect of stability by an adaptive gain law based on Lyapunov's direct method and is used to restrain the influence of estimation error for the disturbance observer. A robust current control scheme for a voltage source PWM inverter with disturbance observer is also presented, since current control ability affects the control performance of dc servomotors. The validity of this control scheme is verified by numerical simulations and experiments. © 1999 Scripta Technica, Electr Eng Jpn, 126(3): 30–40, 1999     

High‐precision positioning of table drive system using strain feedback and disturbance observer

This paper presents a control design methodology for high‐precision positioning. In particular, the compensation for the effects of vibration modes and nonlinear friction on the positioning performance is taken into account in this methodology. In the controller design, the servo bandwidth of the feedback control loop should be expanded to compensate for nonlinear friction, while robust stability with respect to frequency variations in the vibration modes should be ensured. In this study, therefore, strain feedback for vibration modes is adopted to provide robustness with respect to frequency variations and to improve the disturbance suppression performance by expanding the bandwidth of a disturbance observer. This strain feedback is based on the use of a piezoelectric element. The efficiency of the proposed positioning control approach has been verified by conducting experiments using a prototype for industrial table drive systems. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 183(3): 46–55, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21306     

交流伺服系统的鲁棒性设计

研究了基于交流异步电机的伺服系统的鲁棒性设计问题。在采用频率响应法辨识出异步电机模型参数的基础上，利用干扰观测器对交流伺服系统中由模型参数变化、载荷改变等产生的干扰加以估计，并将其作为补偿信号反馈到输入端。研究表明采用干扰观测器的交流伺服系统具有较强的鲁棒性。     

基于龙伯格扰动观测器的PMSM模型预测控制

受工作条件及自身结构影响,永磁同步电机电感参数不是确定的,当采用离线电感参数实现模型预测控制算法时,容易产生参数失配问题,进而导致控制性能下降,为解决该问题,提出了一种基于龙伯格扰动观测器的模型预测电流控制策略。依靠包含扰动的永磁同步电机模型,构建了龙伯格扰动观测器,并根据期望极点配置原理设计了反馈系数,保证观测器的稳定性,创新性体现在利用龙伯格观测器实时估算得到的扰动值补偿由电感参数失配带来的预测精度损失,进而提高系统的控制性能。实验结果表明,提出的基于龙伯格扰动观测器补偿的模型预测控制算法具有较强的鲁棒性,在电感参数失配时,保证电流仍具有良好的稳态性能。     

基于神经网络的永磁直线同步电机位置控制

针对永磁直线同步电机(PMLSM)伺服系统中的诸多不确定性问题,提出了采用神经网络来实现实时积分-比例IP位置控制器的设计。本文所提出的神经网络结构合理、简单,权值具有明确物理意义和可以在线快速调整的特点,以便进行实时控制。用由模型参考自适应参数辨识器和负载扰动力观测器构成的估计器来估计动子质量和负载扰动力。将观测的负载扰动力前馈,进一步增强系统的鲁棒性。仿真结果表明,系统具有很强的鲁棒性,同时提高了稳态精度。     

A speed control method for a PM motor using a speed observer and a low‐resolution encoder

This paper proposes a new speed control method for a PM motor using a low‐resolution encoder and a speed observer. The servo system should be economical and simple. For this purpose, this paper realizes the high‐performance speed control system using a low‐resolution encoder, whose performance is nearly equal to the performance of speed servo system using a conventional optical encoder. The speed observer uses the information of motor current and motor voltage. The rotor position is calculated by the estimated value of speed observer. This observer has the influence of electrical parameter variation. This paper proposes the correction algorithm of both the voltage error of PWM inverter and the electrical parameter variation. The experimental results and numerical simulation results point out that the proposed speed control system has the desired speed response with respect to parameter variations and load torque perturbation. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 143(1): 66–75, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10121     

基于鲁棒非线性控制的无刷直流电机调速系统

设计了一种基于鲁棒非线性控制的无刷直流电机速度伺服系统。控制律中包含线性反馈、非线性反馈和扰动补偿三部分,分别实现快速响应、抑制超调和消除稳态误差的功能,采用一个降阶观测器对系统的不可量测状态和未知常值扰动进行估计。通过Matlab/Simulink进行仿真研究,结果表明所设计的控制系统可以对目标转速进行快速平稳和准确的跟踪,且对负载扰动和系统参数差异具有较好的性能鲁棒性。     

Sliding mode disturbance observer control based on adaptive synchronization in a class of fractional‐order chaotic systems

In this paper, a fractional‐order Dadras‐Momeni chaotic system in a class of three‐dimensional autonomous differential equations has been considered. Later, a design technique of adaptive sliding mode disturbance‐observer for synchronization of a fractional‐order Dadras‐Momeni chaotic system with time‐varying disturbances is presented. Applying the Lyapunov stability theory, the suggested control technique fulfils that the states of the fractional‐order master and slave chaotic systems are synchronized hastily. While the upper bounds of disturbances are unknown, an adaptive regulation scheme is advised to estimate them. The recommended disturbance‐observer realizes the convergence of the disturbance approximation error to the origin. Finally, simulation results are presented in one example to demonstrate the efficiency of the offered scheme on the fractional‐order Dadras‐Momeni chaotic system in the existence of external disturbances.     

Two‐Degree‐of‐Freedom Robust Temperature Control of Peltier Device Based on Heat Disturbance Observer

Recently, the Peltier device has been attracting attention as a haptic device that can transfer heat, because it has relatively fast response characteristics among thermal devices. To transmit thermal sensation, temperature control is considered to be important. However, it is difficult to design a controller because of factors such as parameter variations, nonlinear characteristics of the device, and heat that flows from an external object. Furthermore, it is preferable that the tracking performance and disturbance suppression characteristics be designed independently. To address these factors, this paper proposes a heat disturbance observer, which is constructed by using the disturbance observer commonly used in the field of motion control. When the observer is used, the thermal system becomes robust to the above‐mentioned factors. In addition, it is possible to design the tracking performance independently of the disturbance suppression characteristics. The validity of the proposal is confirmed by experimental results. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 184(1): 66–74, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22282     

基于鲁棒反演滑模控制的PMSM伺服系统控制研究

为了解决永磁同步电机伺服系统PI控制对转矩干扰、参数扰动和大幅位置波动鲁棒性差等问题,将反演控制和滑模控制相结合设计了鲁棒反演滑模位置伺服控制器,通过构建虚拟控制项,利用李雅普诺夫稳定性原理推导了控制律,并进行了稳定性分析。为避免抖动现象造成高精度伺服系统无法运行,采用连续饱和函数取代继电特性的符号函数。通过与PI控制器的伺服系统仿真对比,鲁棒反演滑模控制器对不确定性、转矩干扰和自身运行导致参数摄动具有较强的鲁棒性,且响应速度快,大大削弱了抖动现象。     

Vibration control of flexible arm by multiple observer structure

This paper describes vibration control of a flexible arm by multiple‐observer structure using the accelerations of the arm. In general, a flexible arm has several oscillation modes. In the model of a flexible arm described as a two‐mass resonant system, the reaction torque feedback makes the flexible arm system stable. In the N‐mass resonant system, it is known that the reaction torque feedback makes all oscillation modes, only the reaction torque feedback is not enough to make the system stable. Resonance ratio control with the arm disturbance observer has been proposed. The arm disturbance observer is able to suppress the disturbance applied to the tip, but it is not sufficient for the disturbance applied to other points on the arm. The aim is to make the control system robust to arm inertia variation and disturbance. This paper proposes vibration control of flexible arm by acceleration feedback, and disturbance rejection by multiple‐observer structure using the acceleration of the arm. The validity of the proposed method is shown by simulations and experiments. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 154(2): 68–75, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20175     

Precision motion control of a small launching platform with disturbance compensation using neural networks

A kind of launching platform driven by two permanent magnet synchronous motors which is used to launch kinetic load to hit the target always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion which would degrade their tracking accuracy greatly. In this paper, a practical method which combines adaptive robust control with neural network‐based disturbance observer is proposed for high‐accuracy motion control of the launching platform. The proposed controller not only accounts for the parametric uncertainties but also takes the external disturbances into account. Adaptive control is designed to compensate the former, while neural network‐based disturbance observer is designed to compensate the latter respectively and both of them are integrated together via a feedforward cancellation technique. A new kind of parametric adaptation and weight adaptation strategy is designed by using the linear combination of the system's tracking error and the weight estimation error as a driving signal for parametric adaptation and disturbance approximation. The stability of the novel control scheme is analyzed via a Lyapunov method and this method presents a prescribed output tracking performance in the presence of both parameter uncertainties and unmodeled nonlinearities. Extensive comparative simulation and experimental results are obtained to verify the high‐performance of the proposed control strategy. Copyright © 2016 John Wiley & Sons, Ltd.     

基于自抗扰控制器的无刷直流电动机速度控制

无刷直流电动机作为一个多变量强耦合非线性系统,采用经典PID控制难以得到满意的控制效果.采用自抗扰控制器来提高无刷直流电动机控制系统的动态性能和鲁棒性,自抗扰控制器设计过程中不需要对象模型结构和参数的精确信息.实验比较了PI控制器和自抗扰控制器的控制效果,结果表明自抗扰控制器(ADRC)对外部扰动和电动机参数的变化具有较强的鲁棒性.     

Robust feedforward control system considering sudden disturbance for optical disk recording system

This paper proposes a new robust feedforward tracking servo system for optical disk recording systems in the case of a sudden disturbance for the optical disk recording system. In optical recording systems, the tracking servo system must suppress tracking error below its tolerance. This paper designs the robust feedback control system by using the coprime factorization and disturbance observer. The proposed robust feedback control system suppresses the sudden disturbance caused by walking and running. The detecting signal of optical disk recording systems is only a tracking error. Hence, the feedforward controller of the proposed tracking control system is constructed based on both Zero Phase Error Tracking (ZPET) control theory and prediction of tracking error. The experimental results point out that the proposed tracking servo system has a quick and precise tracking response and keeps the residual tracking error below its tolerance. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(4): 60– 68, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20257