Oliff PLC
Servo control strategy and system for simultaneously eliminating counter- electromagnetic force (CEMF) and load torque disturbances
A servo control strategy and system eliminates CEMF and load torque disturbances. The total disturbance at electrical portion is estimated using extended state observer based on a nominal model of armature winding with measured voltage impressed across two endpoints of armature winding and the measured armature current. The total disturbance at electrical portion is partially counteracted by feed-forward compensation. The remaining CEMF disturbance is eliminated with the aid of armature current feedback regulation. The electrical disturbance can be totally eliminated at inner loop of the system by combining feed-forward control with current feedback control. The total disturbance at mechanical portion is estimated using extended state observer based on a nominal model of drive system with measured armature current and actual speed. The total disturbance at mechanical portion is partially counteracted by feed-forward compensation. The remaining load torque disturbance is eliminated with the aid of feedback regulation of speed.
SHANDONG UNIVERSITY
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Jinbo
Liu