Disturbance Observer in Robust DC Motor Control

Abstract:

The disturbance observer is a specific method of designing a two degree of freedom control structure to achieve insensitivity to modeling error and disturbance rejection. It has been successfully applied in a variety of motion control applications. In motion control, the major sources of uncertainties are friction, inertia, and external disturbances. These uncertainties should be taken into account by any robust motion controller. In this paper, this element is a PD (proportional-derivative) controller. The disturbance observer proves its advantages through the simulation and experiments. With disturbance observer, better tracking performance can be achieved with less control energy.

• Periodical: Applied Mechanics and Materials (Volume 614)
• Pages: 219-223
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.614.219
• Online since: September 2014
• Authors: Hong Cheng Huang*, Yi Zhang, Heng Deng
• Keywords: Disturbance Observer, Motor Drive, PD Controller, Robust Control

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