A PMSM speed servo system based on internal model control with extended state observer

2017 ◽  
Author(s):  
Chunqiang Liu ◽  
Guangzhao Luo ◽  
Zhao Xue ◽  
Zihan Zhou ◽  
Zhe Chen
Keyword(s):  
Internal Model ◽  
Servo System ◽  
State Observer ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Extended State ◽  
Model Control

Stable control of the high-speeding magnetically suspended rotor based on extended state observer and two-degree freedom internal model control for control moment gyros with serious moving-gimbal effects

2020 ◽  
Vol 42 (14) ◽  
pp. 2733-2743
Author(s):  
Jiqiang Tang ◽  
Tongkun Wei ◽  
Qichao Lv ◽  
Xu Cui
Keyword(s):  
Internal Model ◽  
Feedback Linearization ◽  
Control Method ◽  
Fast Response ◽  
State Observer ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Extended State ◽  
Control Moment ◽  
Model Control

For a magnetically suspended control moment gyro (MSCMG), which is an ideal attitude actuator for its large outputting control moment and fast response, the moving-gimbal effects due to the coupling between the moving gimbal and high-speeding rotor will make the magnetically suspended rotor (MSR) unstable. To improve control precision, both the dynamic model of MSR and the feedback linearization control are done to decouple tilting motion, and poles of the system are reconfigured to reduce control error. To suppress the varying disturbance moments caused by moving-gimbal effects, an extended state observer (ESO) is originally designed to estimate and compensate them timely and accurately. To improve system robustness, a two-degree freedom internal model control (2-DOF IMC) is researched to suppress model error. Compared with existing proportional integral derivative (PID) control method, simulations done on a single gimbal MSCMG with 200 N.m.s angular momentum indicated that this presented control method with ESO and 2-DOF IMC can suppress the moving-gimbal effects more effectively and make the rotor suspension more stable.

Extended state observer based fractional order controller design for integer high order systems

2021 ◽  
pp. 095440622110621
Author(s):  
Rachid Mansouri ◽  
Maamar Bettayeb ◽  
Ubaid M Al-Saggaf ◽  
Abdulrahman U Alsaggaf ◽  
Muhammad Moinuddin
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
State Observer ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Extended State ◽  
Set Point ◽  
Point Tracking ◽  
Model Control ◽  
Fractional Order Controller

In this paper, based on the extended state observer (ESO) and on a fractional order controller (FOC), composed of an integer order PID cascaded with a fractional order filter (FOF), a new control scheme for an n th order integer plant is proposed. The ESO is used to estimate and cancel the unknown internal dynamics and the external disturbance. Afterwards, an FOC is designed to resolve the set-point tracking problem. An analytical and systematic method is proposed to design the FOC. This method is based on the Internal Model Control (IMC) and the Bode’s Ideal Transfer Function (BITF). Therefore, the proposed control structure improves the robustness and performance of the traditional linear active disturbance rejection control (LADRC), especially for the open-loop gain variation. In addition, since the system be controlled is an n th order, a general form of the BITF is also proposed. Numerical simulations on a nonlinear model and experimental results on a cart-pendulum system design illustrate the effectiveness of the suggested ESO-PID-FOF scheme for the disturbance rejection, the set-point tracking and robustness. A comparison with the results obtained using the standard LADRC is also presented.

Predictive extended state observer-based robust control for uncertain linear systems with experimental validation

2021 ◽  
pp. 014233122110025
Author(s):  
Sushant N Pawar ◽  
Rajan H Chile ◽  
Balasaheb M Patre
Keyword(s):  
Robust Control ◽  
Process Model ◽  
Real Life ◽  
State Observer ◽  
Higher Order ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Control Technique ◽  
Extended State ◽  
Model Control

This paper describes a predictive extended state observer-based robust control for uncertain process control applications. The technique discussed in the article uses the extended state observer (ESO) that can estimate the dynamics of the system as well as total disturbance encountered in the system. The disturbances, parametric uncertainties associated with the processes are treated as an extended state variable to be estimated in real-time using ESO. With the implementation of a predictive algorithm with an ESO, the proposed control structure extends its applicability to time-delayed higher-order processes. The proposed control technique utilizes the simple first-order modified predictive ESO even in the case of higher-order processes. The novel predictive ESO is able to obtain a delay less estimation of total disturbance as compared with existing normal ESO. Also, novel predictive ESO maintains its stability margin in presence of time delay as well provides better response as compared with normal ESO. Numerical simulations show that the proposed scheme provides a significant improvement in transient response as compared with internal model control-based proportional-integral-derivative (IMC-PID) control. The proposed scheme requires less knowledge of the process as compared with the IMC-PID structure. The implementation of the proposed control is tested on a real-life single tank level control system. Because of its merit, the suggested technique can be used as automatic for online tuning, as it is less reliant on the process model.

scholarly journals Research on Position Servo System Based on Fractional-Order Extended State Observer

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 102748-102756
Author(s):  
Jiacai Huang ◽  
Peng Ma ◽  
Guangxuan Bao ◽  
Fangzheng Gao ◽  
Xinxin Shi
Keyword(s):  
Fractional Order ◽  
Servo System ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Position Servo
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