Research Papers

Output Feedback Robust Control of Direct Current Motors With Nonlinear Friction Compensation and Disturbance Rejection

[+] Author and Article Information
Jianyong Yao

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: jerryyao.buaa@gmail.com

Zongxia Jiao

School of Automation Science
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
Beihang University,
Beijing 100191, China
e-mail: zxjiao@buaa.edu.cn

Dawei Ma

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: ma-dawei@mail.njust.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 4, 2013; final manuscript received September 30, 2014; published online November 7, 2014. Assoc. Editor: YangQuan Chen.

J. Dyn. Sys., Meas., Control 137(4), 041004 (Apr 01, 2015) (9 pages) Paper No: DS-13-1341; doi: 10.1115/1.4028743 History: Received September 04, 2013; Revised September 30, 2014

High accuracy tracking control of direct current (DC) motors is concerned in this paper. A continuously differentiable friction model is adopted to account for the friction nonlinearities, which allows more flexible and suitable practical implementation. Since only output signal is available for measurement, an extended state observer (ESO) is designed to provide precise estimates of the unmeasurable state together with external disturbances, which facilitates the controller design without any transformations. The global stability of the controller is ensured via a certain robust feedback law. The resulting controller theoretically guarantees a prescribed tracking performance in general, while achieving asymptotic output tracking in the absence of time-varying disturbances, which is very important for high accuracy control of motion systems. Comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.

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Fig. 1

The architecture of the positioning motion system

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Fig. 2

Experimental platform of DC motor driven system

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Fig. 3

Experimental results and curve fitting of nonlinear friction [3]. (a) The overall friction identification data. (b) The zoom figure at zero velocity region in (a). (c) The obtained static friction described by the model (2) with coefficients c1 = 700, c2 = 15, c3 = 1.5, a1 = 0.02, a2 = 0.01, and a3 = 0.205.

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Fig. 4

The desired trajectory (normal case)

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Fig. 5

Tracking errors of four controllers in normal case

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Fig. 6

States estimation and control input of OFRC in normal case (a) States x1 and x2 estimation of OFRC and (b) Extended state x3 estimation and control input of OFRC

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Fig. 7

Tracking errors of OFRC with position disturbance

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Fig. 8

State x3 estimation and control input of OFRC with position disturbance




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