Robust dynamic decoupling control for permanent magnet spherical actuators based on extended state observer

2017 ◽  
Vol 11 (5) ◽  
pp. 619-631 ◽  
Author(s):  
Jingmeng Liu ◽  
Huiyang Deng ◽  
Weihai Chen ◽  
Shaoping Bai
Keyword(s):  
Permanent Magnet ◽  
State Observer ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Extended State ◽  
Dynamic Decoupling

scholarly journals Composite Decoupling Control of PMSM Based on Extended State Observer

2021 ◽  
Vol 2137 (1) ◽  
pp. 012003
Author(s):  
Hongliang Yan ◽  
Yan Geng ◽  
Weizhi Zhai
Keyword(s):  
Control Method ◽  
Voltage Drop ◽  
Permanent Magnet Synchronous Motor ◽  
State Observer ◽  
Extended State Observer ◽  
Decoupling Control ◽  
Current Loop ◽  
Extended State ◽  
Decoupling Method ◽  
Dynamic Decoupling

Abstract In order to solve the problem that the dynamic decoupling performance of the traditional decoupling method is reduced due to the parameter disturbance of permanent magnet synchronous motor (PMSM), a composite decoupling control method based on extended state observer (ESO) is proposed in this paper. In this method, voltage drop across stator resistance, cross coupling terms, internal uncertains and external load torque are taken as disturbances. The disturbance is observed in real time by using the extended state observer and compensated to the output end of the current controller, so as to realize the current decoupling control of the system and achieve the purpose of precise control of the current loop. The results of theoretical analysis show and simulation show that the composite decoupling control strategy based on extended state observer has better dynamic decoupling effect.

scholarly journals Speed Control of Permanent Magnet DC Motor with Friction and Measurement Noise Using Novel Nonlinear Extended State Observer-Based Anti-Disturbance Control

Energies ◽  
2019 ◽  
Vol 12 (9) ◽  
pp. 1651 ◽  
Author(s):  
Amjad J. Humaidi ◽  
Ibraheem Kasim Ibraheem
Keyword(s):  
Permanent Magnet ◽  
Finite Time ◽  
Nonlinear Function ◽  
State Observer ◽  
Lyapunov Theory ◽  
Extended State Observer ◽  
Extended State ◽  
Disturbance Rejection Control ◽  
Single Term ◽  
Nonlinear Extended State Observer

In this paper, a novel finite-time nonlinear extended state observer (NLESO) is proposed and employed in active disturbance rejection control (ADRC) to stabilize a nonlinear system against system’s uncertainties and discontinuous disturbances using output feedback based control. The first task was to aggregate the uncertainties, disturbances, and any other undesired nonlinearities in the system into a single term called the “generalized disturbance”. Consequently, the NLESO estimates the generalized disturbance and cancel it from the input channel in an online fashion. A peaking phenomenon that existed in linear ESO (LESO) has been reduced significantly by adopting a saturation-like nonlinear function in the proposed nonlinear ESO (NLESO). Stability analysis of the NLEO is studied using finite-time Lyapunov theory, and the comparisons are presented over simulations on permanent magnet DC (PMDC) motor to confirm the effectiveness of the proposed observer concerning LESO.

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