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Volume 9 Issue 2
Feb.  2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2022  >  9(2): 365-376
L. Zhang, J. Yang, and S. H. Li, “A model-based unmatched disturbance rejection control approach for speed regulation of a converter-driven DC motor using output-feedback,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 365–376, Feb. 2022. doi: 10.1109/JAS.2021.1004213
Citation: L. Zhang, J. Yang, and S. H. Li, “A model-based unmatched disturbance rejection control approach for speed regulation of a converter-driven DC motor using output-feedback,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 2, pp. 365–376, Feb. 2022. doi: 10.1109/JAS.2021.1004213
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A Model-Based Unmatched Disturbance Rejection Control Approach for Speed Regulation of a Converter-Driven DC Motor Using Output-Feedback

doi: 10.1109/JAS.2021.1004213
  • 1.

    School of Automation, Southeast University, Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China

  • 2.

    Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough LE11 3TU, UK

Funds:  This work was supported in part by the Natural Science Foundation of China (61973080, 61973081), by the Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration (201928069002) and the Key R&D Plan of Jiangsu Province (BE2020082-4)
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    Abstract
  • The speed regulation problem with only speed measurement is investigated in this paper for a permanent magnet direct current (DC) motor driven by a buck converter. By lumping all unknown matched/unmatched disturbances and uncertainties together, the traditional active disturbance rejection control (ADRC) approach provides an intuitive solution for the problem under consideration. However, for such a higher-order disturbed system, the increase of poles for the extended state observer (ESO) therein will lead to drastically growth of observer gains, which causes severe noise amplification. This paper aims to propose a new model-based disturbance rejection controller for the converter-driven DC motor system using output-feedback. Instead of estimating lumped disturbances directly, a new observer is constructed to estimate the desired steady state of control signal as well as errors between the real states and their desired steady-state responses. Thereafter, a controller with only speed measurement is proposed by utilizing the estimates. The performance of the proposed method is tested through experiments on dSPACE. It is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains.

     

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    Highlights

    • The explicit relationship between the observer gains and the assigned poles has been developed for both the proposed method and the active disturbance rejection control (ADRC) method. The results show that the observer gains under the proposed observer are much lower than the traditional ADRC method provided that they have the same observer poles. This feature allows for better performance balance between noise attenuation and disturbance rejection of the proposed method
    • This paper is concerned with unmatched disturbance rejections via output-feedback control. The potential difficulty for designing an output-feedback disturbance rejection controller is that it is quite challenging to estimate both the unknown states and unmatched disturbances simultaneously. Consequently, we provide a thorough comparison with the existing traditional ADRC approach, which is a well-known output-feedback disturbance rejection controller, from different aspects including with a methodological perspective, delicate theoretical analysis and experimental comparisons
    • The performance of the proposed control method is tested through experiments on dSPACE. It is further shown via numerical calculations and experimental results that the poles of the observer within the proposed control approach can be largely increased without significantly increasing magnitude of the observer gains

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