Research of Compound Controller for Flight Simulator with Disturbance Observer

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.

Section: Discussionmentioning

confidence: 99%

Section: Problem Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Zhao

Shi

et al. 2014

“…Moreover, when the proposed DGSMC scheme is applied in actual optoelectronic tracking system, how to effectively acquire the difference components of DGSMC law in a noisy environment should be considered and solved. As a result, some more excellent estimation algorithms, such as trackingdifferentiator [21] and approximate differential method [22], can be used as references in further work.…”

Section: Discussionmentioning

confidence: 99%

A Chattering Free Discrete-Time Global Sliding Mode Controller for Optoelectronic Tracking System

Ren

Liu

et al. 2013

Self Cite

Aiming at the uncertainties including parameter variations and external disturbances in optoelectronic tracking system, a discrete-time global sliding mode controller (DGSMC) is proposed. By the design of nonlinear switching function, the initial state of control system is set on the switching surface. An adaptive discrete-time reaching law is introduced to suppress the high-frequency chattering at control input, and a linear extrapolation method is employed to estimate the unknown uncertainties and commands. The global reachability for sliding mode and the chattering-free property are proven by means of mathematical derivation. Numerical simulation presents that the proposed DGSMC scheme not only ensures strong robustness against system uncertainties and small tracking error, but also suppresses the high-frequency chattering at control input effectively, compared with the SMC scheme using conventional discrete-time reaching law.

“…An approximate method for difference to estimate the reference values of velocity and acceleration is introduced. This method is expressed by [26]…”

Section: Compound Control Scheme Of Virtual Compound-axis Servo Systemmentioning

confidence: 99%

Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

Ren

Liu

Chang

et al. 2013

A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.