Regular Papers
International Journal of Control, Automation and Systems 2020; 18(2): 486-494
Published online November 28, 2019
https://doi.org/10.1007/s12555-018-0838-7
© The International Journal of Control, Automation, and Systems
Performance Analysis of Disturbance Estimation Techniques for Robust Position Control of DC Motor
In this paper, the problem of high-performance robust position control of a DC motor based on the uncertainty and disturbance estimator (UDE) is presented. The UDE based sliding mode controller (SMC) is proposed which makes the system insensitive to the effect of Coulomb’s friction, parameter variations, and variable external load in DC motor. Fair comparison between UDE based SMC and existing classical technique is carried out by making PID as a robust controller by using Q-filter design. The different filter designs provide different estimates of nonlinearity, uncertainties, and external disturbances at a different resolution of position encoders. The proposed method guarantees robustness and ultimately eliminates the chattering phenomenon which is generally occurred in SMC.
Keywords Coulomb’s friction, DC motor, sliding mode control, uncertainty disturbance estimator.
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Regular Papers
International Journal of Control, Automation and Systems 2020; 18(2): 486-494
Published online February 1, 2020 https://doi.org/10.1007/s12555-018-0838-7
Copyright © The International Journal of Control, Automation, and Systems.
Performance Analysis of Disturbance Estimation Techniques for Robust Position Control of DC Motor
Subhash S. Sankeshwari and Rajan H. Chille*
Shri Guru Gobind Singhji Institute of Engineering and Technology
Abstract
In this paper, the problem of high-performance robust position control of a DC motor based on the uncertainty and disturbance estimator (UDE) is presented. The UDE based sliding mode controller (SMC) is proposed which makes the system insensitive to the effect of Coulomb’s friction, parameter variations, and variable external load in DC motor. Fair comparison between UDE based SMC and existing classical technique is carried out by making PID as a robust controller by using Q-filter design. The different filter designs provide different estimates of nonlinearity, uncertainties, and external disturbances at a different resolution of position encoders. The proposed method guarantees robustness and ultimately eliminates the chattering phenomenon which is generally occurred in SMC.
Keywords: Coulomb’s friction, DC motor, sliding mode control, uncertainty disturbance estimator.
Vol. 23, No. 3, pp. 683~972
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