Improving the Performance of Motor Drive Servo Systems via Composite Nonlinear Control

摘要

This paper presents a discrete-time design of robust compositenonlinear controller to achieve fast and accurate set-pointtracking for motor servo systems subject to actuator saturationand disturbances.The basic idea here is to use a combination oflinear and nonlinear control,together with a disturbancerejection mechanism based on extended state observer.The linearcontrol part is designed to yield a fast response,and thenonlinear part serves to reduce the overshoot,while the extendedstate observer estimates simultaneously the state vector and theunknown disturbance for control and compensation.The closed-loopstability is analyzed using the Lyapunov theory.Practicalapplication in a permanent magnet synchronous motor position servosystem is given to demonstrate the effectiveness of the proposedcontrol scheme.