Disturbance observer based controller design of a speed servo system

摘要

The internal and external disturbance torque of the servo motor is the key factor restricting the precision of the speed servo control. In order to improve the control accuracy of DC(Direct Current) motor system, the dynamic analysis of the motor system is performed and the linear model of the motor system based on the current loop is established. The state expansion model including the disturbance torque is established based on the analysis of the nonlinear characteristics of the servo motor system. The simulation and experiment show that the disturbance observer based on the linear model of the servo motor system and its state expansion equation can realize the real-time estimation of the nonlinear disturbance torque, enhance the ability of the servo loop to restrain the disturbance, and improve the control performance of the servo motor system.