Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

Abstract

Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO) is proposed based on the global sliding mode (GSM) control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR) optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

Adaptive Global Sliding Mode Controller Design for Perturbed DC-DC Buck Converters

“…In [31], a global quasi-SMC (GQSMC) method is provided with guaranteed zigzag motion with a smaller bound compared to the method proposed by Gao. In [32], a GSMC disturbance-observer is proposed for the position tracking of DC motor system with parameter variations, modeling errors, and load moment disturbances. In [33], a chattering-free fuzzy back-stepping GSMC for tracking control of multi-joint robotic manipulators is proposed.…”

Optimal Design of PID Controller for the Speed Control of DC Motor by Using Metaheuristic Techniques

“…There are different types of controllers like lead, lag, LQR (linear quadratic regulator), PID, and sliding-mode control that could be incorporated in control applications [6][7][8]. Among the few mentioned types of controllers, PID controller is one of the earliest and best understood controllers which is incorporated in almost every industrial control application due to its efficiency and ease of implementation [9].…”