Full-order ESO Based Disturbance Rejection Method With a Simple Parameter Tuning for Electro-Mechanical Servo System

摘要

In order to improve the disturbance rejection performance of electro-mechanical actuator (EMA), a robust servo system based on full-order extended state observer (ESO) is proposed for EMA employing permanent magnet synchronous motor (PMSM). Firstly, dynamic model of EMA is analyzed. Parameter uncertainties and load variation are treated as total disturbances. Utilizing this model, a parallel composite control of position and speed with command shaping is presented to improve the frequency bandwidth of EMA. Secondly, a full-order ESO is designed to estimate total disturbances. Thirdly, a simple parameter tuning method is given, which is convenient to analyze and implement the controller. The disturbance sensitivity analysis is realized in frequency domain. Finally, the simulation and experimental results verify the effectiveness of proposed strategy for EMA.