scholarly journals Predictive Speed-Control Algorithm Based on a Novel Extended-State Observer for PMSM Drives

2019 ◽  
Vol 9 (12) ◽  
pp. 2575 ◽  
Author(s):  
Yang Zhao ◽  
Xudong Liu ◽  
Qi Zhang
Keyword(s):  
Control Method ◽  
Dynamic Performance ◽  
Taylor Series Expansion ◽  
Speed Control ◽  
State Observer ◽  
Extended State Observer ◽  
Current Loop ◽  
Motor Speed ◽  
Extended State ◽  
Time Model

To enhance the control performance of permanent-magnet synchronous motor (PMSM) drive systems, achieving high-precision motion control, a generalized predictive control (GPC) method based on a novel extended-state observer (ESO) is investigated for the speed control of PMSM. In this paper, the controller design consists of two steps. Firstly, according to the continuous time model of PMSM, using the Taylor series expansion, the predictive value of motor speed in finite time is derived, and the single-loop speed controller by combining the speed loop and q - axis current loop is obtained through the defined cost function. The structure of the controller is simple compared to other forms. Secondly, considering the uncertainty of the load torque and the model uncertainties, a novel extended-state observer is designed to compute the actual torque, and the observed value is introduced to the GPC controller. The simulation and experimental results show that the proposed GPC+ESO control method has superior dynamic performance and strong robustness.

scholarly journals Speed control for permanent magnet synchronous motor based on an improved extended state observer

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774766 ◽  
Author(s):  
Bingyou Liu
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Speed Control ◽  
Synchronous Motor ◽  
State Observer ◽  
Extended State Observer ◽  
Motor Speed ◽  
Extended State ◽  
Speed Control System

An improved extended state observer is designed to eliminate the influences of speed control for a permanent magnet synchronous motor. The improved extended state observer is designed based on a new nonlinear function. This function exhibits better continuity and derivability than previously available functions and can effectively reduce the high-frequency flutter phenomenon. The nonlinear dynamics, model uncertainty, and external disturbances of the permanent magnet synchronous motor speed control system are extended to a new state. The improved extended state observer is utilized to observe this state. The overtime variation of the permanent magnet synchronous motor speed control system can be predicted and compensated in real time by the improved extended state observer. Therefore, the improved extended state observer, which is designed based on the new nonlinear function, can eliminate the disturbances on the permanent magnet synchronous motor speed control system. Finally, simulation experiments are performed and results show that the permanent magnet synchronous motor speed control system with improved extended state observer exhibits better performances.

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 Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

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 Ascent Trajectory Tracking Method

2017 ◽  
Author(s):  
Wenming Nie ◽  
Huifeng Li ◽  
Ran Zhang ◽  
Bo Liu
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
State Observer ◽  
Linearization Method ◽  
Extended State Observer ◽  
Extended State ◽  
External Disturbances ◽  
Modeling Uncertainties ◽  
Trajectory Tracking Controller ◽  
Linearization Errors

The ascent trajectory tracking problem of a launch vehicle is investigated in this paper. To improve the conventional trajectory linearization method which usually omits the linearization errors, the extended state observer (ESO) is employed in this paper to timely estimate the total disturbance which consists of the external disturbances and the modeling uncertainties resulting from linearization error. It is proven that the proposed trajectory tracking controller can guarantee the desired performance despite both external disturbances and the modeling uncertainties. Moreover, compared with the conventional linearization control method, the proposed controller is shown to have much better performance of uncertainty rejection. Finally, the feasibility and performance of this controller are illuminated via simulation studies.

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

2020 ◽  
pp. 014233122096611
Author(s):  
Hui Li ◽  
Ruiqin Li ◽  
Jianwei Zhang
Keyword(s):  
Control Method ◽  
External Disturbance ◽  
Control Process ◽  
Output Feedback Control ◽  
State Observer ◽  
Robotic System ◽  
Extended State Observer ◽  
Extended State ◽  
Multiple Sources ◽  
Parameter Uncertainties

Controlling an underactuated robot is always an important research and engineering issue, especially when the robot is suffering from multiple sources of uncertainties, such as unmodeled dynamics, external disturbance, and parameter uncertainties. To cope with these uncertainties in such uncertain nonlinear systems which is not fully-actuated, this paper proposes a control method that can actively estimate these uncertainties via the extended state observer (ESO), under the scheme of output-feedback control, the lumped uncertainties can be online estimated and actively compensated. Every joint of the underactuated robotic system can robustly reach the pre-given state in finite-time even though there are only fewer joints than the actual number of joints that can be controlled directly. The experimental results demonstrate the control process and validate that the proposed method is feasible for the studied underactuated robotic system.

scholarly journals Speed sensorless model predictive control method for a direct-drive wind energy conversion system

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1394-1402 ◽  
Author(s):  
Shengquan Li ◽  
Juan Li ◽  
Hanwen Wu ◽  
Zhongwen Lin
Keyword(s):  
Model Predictive Control ◽  
Wind Energy ◽  
Predictive Control ◽  
Control Method ◽  
Synchronous Generator ◽  
State Observer ◽  
Extended State Observer ◽  
Direct Drive ◽  
Extended State ◽  
Speed Sensorless

Considering the problems of the internal and external disturbances of wind speed in the direct-drive wind energy conversion system based on a permanent magnet synchronous generator, a novel model predictive control based on the extended state observer method without the accurate mathematical system model is proposed in this paper. First, a model predictive control method is employed as the feedback controller, while the mathematical model of the control system can be adjusted online via the rolling optimization strategy. Second, an extended state observer is introduced to estimate the state variables and lumped disturbances, that is, the internal disturbances including nonlinear characteristic, multi-variety coupling effect, uncertainties of system parameters, and external disturbances including variations of wind speeds and uncertainties of the natural environment. Third, the effect of lumped disturbances can be attenuated by the estimated disturbance value via a feedforward channel. In addition, in order to achieve the real-time speed control performance of the permanent magnet synchronous generator, a speed sensorless algorithm based on a flux observer is proposed to solve the problem of unsuitability of mechanical speed sensor. Finally, the simulation results with several wind speed types show that the proposed sensorless model predictive control with the extended state observer strategy is an effective way to improve the performance of anti-disturbance and ability of tracking maximum wind energy of the wind power control system.

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