Performance of a real time disturbance observer in rotational motion electro-mechanical system from stimulated physical actuation

Abstract

Themerit and performance for disturbance estimation of a hardware based embedded system that implements an observer is evaluated. An existing rotational mechanics system that is initially decoupled from the observer is presented as a load where known physical manifestations of disturbance is modelled by piecewise linear approximations. A coupling is established by connecting together a microcontroller platform with real time implementation in embedded code functions to a specially constructed electro-mechanical system that is driven by a Brushed DC (BDC) motor. A select number and type of synthesized disturbance is use to drive a magnetic particle brake for a response then torque measurements are obtained, while the observer forms in a hardware in the loop function. The open loop physical model simulation, bench measurements and the output of the observer are found to be in good agreement at experimental level. A diagnostic tool for disturbance detection and estimation of a design is found to be technically plausible.

Position and Speed Tracking of DC Motor Based on Experimental Analysis in LabVIEW

“…The disturbance torques can be quite large for cheap DC motors and can cause performance issues. The conventional proportional integral derivative (PID) controller may not be very effective for eliminating the speed ripples of motors with small inertia due to the periodic nature of the disturbance torque [9][10][11][12][13].…”