High Performance DC Servo System Design Based on Scheduled Disturbance Observer * * The authors gratefully acknowledge the financial support of the National Science Foundation of China (NSFC) under grants 61533012 and 61521063.

摘要

This paper studies the smooth and precise speed regulation of DC servo system subject to both unknown external disturbances and internal uncertainties. we first propose a disturbance observer based switching control scheme, consists of two DOBs and a switching logic. Thereafter, a novel switching mechanism is meticulously designed to switch the different DOBs according to the variation of output error and settling time, and the stability of the scheduled system is analyzed through Lyapunov stability theory. Experiments on speed regulation show that both smooth dynamic responses at transient state and high accuracy performance at steady state are achieved and the effectiveness of the proposed control scheme is verified.