Experimental evaluation of a proximate time-optimal servo control scheme
- Resource Type
- Conference
- Authors
- Zhao, Jiqiang; Cheng, Guoyang
- Source
- 2015 34th Chinese Control Conference (CCC) Control Conference (CCC), 2015 34th Chinese. :4297-4301 Jul, 2015
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Servomotors
Observers
Acceleration
Robustness
AC motors
Permanent magnet motors
Target tracking
Motion control
Time-optimal control (TOC)
State observer
Disturbance compensation
Speed regulation
- Language
- ISSN
- 1934-1768
The design of a set-point tracking control scheme is presented for typical double-integrator servo systems. The control scheme adopts the framework of proximate time-optimal servomechanism (PTOS). An extended state observer (ESO) is utilized to estimate the un-measured velocity signal and the unknown disturbance, and a disturbance compensation term is included in the PTOS control law. In the presence of speed constraint, a speed regulation stage is incorporated between the PTOS acceleration and deceleration stages. The control scheme is then applied to the position control loop in a permanent magnet linear synchronous motor servo system. Experimental verification has been conducted, based on the TMS320F28335 digital signal controller board. The results confirm that the proposed control scheme can track a wide range of target references fast and accurately, and has some robustness against disturbance and uncertainties.