Improved active-disturbance-rejection position controller for direct current (DC) motor, and design method of improved active-disturbance-rejection position controller

A DC motor, an improved technology, applied in the direction of motor generator control, electronic commutation motor control, control of electromechanical brakes, etc., can solve the problems of untimely control and low system error gain, etc., and achieve strong resistance to external interference, The effect of faster response and quick response

Inactive Publication Date: 2017-05-31
NANJING UNIV OF POSTS & TELECOMM
View PDF1 Cites 56 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] According to the imperfections and deficiencies of the current background technology, the present invention realizes the second-order active disturbance rejection control for the brushless DC motor and improves the fal function in the extended state obser

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Improved active-disturbance-rejection position controller for direct current (DC) motor, and design method of improved active-disturbance-rejection position controller
  • Improved active-disturbance-rejection position controller for direct current (DC) motor, and design method of improved active-disturbance-rejection position controller
  • Improved active-disturbance-rejection position controller for direct current (DC) motor, and design method of improved active-disturbance-rejection position controller

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0084] The present invention selects DC torque as the motor body, uses the mechanism method to carry out mathematical modeling on the motor, figure 2 The DC motor model diagram that the present invention uses shown, the state model of its motor position control is:

[0085]

[0086] Among them, k e is the back EMF coefficient is 6, k m is the motor torque constant of 2, T L is the load torque, R m is the armature resistance is 2, J is the moment of inertia of the load and the rotor is 1, both belong to the constant set. where x 1 = θ, x 2 = ω, θ is the motor rotation angle, ω is the angular velocity of the motor.

[0087] In this example, the purpose of the system control is to speed up the tracking of the input signal r, so that the time required for the motor to reach a stable position is less, the speed is faster, and it is more robust and more resistant to external interference.

[0088] For this system, according to figure 1 The controller can be designed as f...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a structure and a design method of an improved active-disturbance-rejection position controller for a direct current (DC) motor; the DC motor is taken as a controlled object, and an output position signal is taken as a controlled variable; the controller mainly consists of four parts, i.e., a tracking differentiator, a nonlinear state error feedback part, an extended state observer and a disturbance compensation part. The improved active-disturbance-rejection position controller is mainly used to improve a fal function in a nonlinear function in the extended state observer, and the fal function is used to determine the tracking performance of the extended state observer and the controller; the concrete improvement measure is adding a linear feedback area into non-linear feedback; therefore, the problem that in the traditional method, timely control cannot be realized when the system error is too large and the gain is too low can be solved on the basis of guaranteeing system stability. By comparing simulation lines obtained before and after the improvement for the controller, the structure and the design method which are provided by the invention are proved to accelerate the output signal response speed under the condition that the position error of the DC motor is larger, thus improving the integral control performance of a system.

Description

technical field [0001] The invention belongs to the technical field of industrial process control, and in particular relates to a structure and a design method of an improved active disturbance rejection position controller for a DC motor. Background technique [0002] In the control system, the DC motor is a common actuator. For example, the inverted pendulum control system needs the motor to drive the belt drive, the robot joint, etc. The position or angle of the motor is an important output quantity of the motor, and it is a control quantity often required in the actual system. In many actual productions, the motor needs to reach a certain stable position within a certain period of time, and the ADRC controller can control the position of the DC motor by virtue of its characteristics of not requiring an accurate model of the controlled object and being able to compensate for the overall disturbance. The research has the most direct practical significance. [0003] The a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): H02P21/00
CPCH02P21/0003
Inventor 杨杨谈杰岳东
Owner NANJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap