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Auto disturbance rejection motion control for direct-drive motors
Su YX(苏玉鑫); Duan BY(段宝岩); Zhang YF(张永芳)
作者部门机器人学研究室
会议名称28th Annual Conference of the IEEE Industrial Electronics Society
会议日期November 5-8, 2002
会议地点Sevilla, Spain
会议主办者IEEE; Industrial Electronics Society; SICE; Universidad de Sevilla
会议录名称Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
出版者IEEE
出版地NEW YORK
2002
页码2073-2078
收录类别EI ; CPCI(ISTP)
EI收录号2003157429548
WOS记录号WOS:000181518100363
产权排序1
ISSN号1553-572X
ISBN号0-7803-7474-6
关键词Auto-disturbance Rejection Controller Motion Control Direct-drive Motor Nonlinear Control
摘要

A simple and high performance auto-disturbance rejection controller (ADRC) only based on the rotor position measurement is proposed for motion control of direct-drive motors. The motion controller is consisted of a nonlinear tracking differentiator in the feedforward path, an extended-state observer (ESO) and a nonlinear proportional derivative synthesizer in the feedback path. The ESO obtains the estimated state of the plant and the unknown disturbance action at the plant input with simple computation using only the measurement output of the plant. The proposed method is implemented to control an AC direct-drive servomotor system to verify its high-precise and robustness performance.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19996
专题机器人学研究室
通讯作者Su YX(苏玉鑫)
作者单位1.School of Electro-Mechanical Engineering, Xidian University
2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Su YX,Duan BY,Zhang YF. Auto disturbance rejection motion control for direct-drive motors[C]//IEEE; Industrial Electronics Society; SICE; Universidad de Sevilla. NEW YORK:IEEE,2002:2073-2078.
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