TY - GEN
T1 - Tracking control of motion control systems with disturbance observer based on high-order fully actuated system approach
AU - Li, Rongmei
AU - Huo, Xin
AU - Wu, Aijing
AU - Liu, Weizhen
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper investigates the tracking problem of motion control systems driven by permanent magnet synchronous motors (PMSMs) in the presence of unknown disturbances. In contrast to using the model of state space methods, this study adopts a different method by initially transforming the model of a motion control system driven by PMSM into a high-order fully actuated (HOFA) system. Subsequently, a controller is designed based on the HOFA system approach, and a closed-loop linear system with disturbances is obtained. To handle the impact of disturbances, a disturbance observer is employed to estimate the disturbance. The validity of the proposed algorithm is assessed through theoretical analysis, and a numerical simulation is also conducted to further support the findings, thereby underscoring the effectiveness of the proposed approach.
AB - This paper investigates the tracking problem of motion control systems driven by permanent magnet synchronous motors (PMSMs) in the presence of unknown disturbances. In contrast to using the model of state space methods, this study adopts a different method by initially transforming the model of a motion control system driven by PMSM into a high-order fully actuated (HOFA) system. Subsequently, a controller is designed based on the HOFA system approach, and a closed-loop linear system with disturbances is obtained. To handle the impact of disturbances, a disturbance observer is employed to estimate the disturbance. The validity of the proposed algorithm is assessed through theoretical analysis, and a numerical simulation is also conducted to further support the findings, thereby underscoring the effectiveness of the proposed approach.
KW - Disturbance observer
KW - High-order fully actuated system approach
KW - Motion control systems
KW - Tracking control
UR - https://www.scopus.com/pages/publications/85200535638
U2 - 10.1109/FASTA61401.2024.10595197
DO - 10.1109/FASTA61401.2024.10595197
M3 - 会议稿件
AN - SCOPUS:85200535638
T3 - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
SP - 1199
EP - 1203
BT - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
Y2 - 10 May 2024 through 12 May 2024
ER -