1 / 20

Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System

Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System. IEEE Transactions on Industrial Electronics, Vol.54, No.2,April 2007 Guoyang Cheng, Member, IEEE, and Kemao Peng, Member, IEEE. 學生：黃允葳 指導老師：曾慶耀 老師. Outline. Introduction Robust CNF Control

ophelia-ambrosia
Download Presentation

Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Robust Composite Nonlinear Feedback Control With Application to a Servo Positioning System IEEETransactions on Industrial Electronics, Vol.54, No.2,April 2007 Guoyang Cheng, Member, IEEE,and Kemao Peng, Member, IEEE 學生：黃允葳 指導老師：曾慶耀 老師

  2. Outline • Introduction • Robust CNF Control • Application in a Servo Positioning System • Conclusion

  3. Introduction • Proposing a new robust CNF control method to achieve fast and accurate set-point tracking for linear systems • The basic idea is to incorporate -Disturbance estimation -Disturbance compensation into the framework of the original CNF control

  4. Robust CNF Control(1/7) • A linear system with amplitude-constrained actuator characterized by

  5. Robust CNF Control(2/7) • Taking the disturbance as a state variable to form an equation as • Augmenting w into the given system as

  6. Robust CNF Control(3/7) • The four steps of the design of robust CNF control law 1) Design a linear state feedback with a disturbance compensation term as

  7. Robust CNF Control(4/7) 2) To solve the Lyapunov equation for P>0. Then define and

  8. Robust CNF Control(5/7) • The nonlinear feedback portion is then given by

  9. Robust CNF Control(6/7) 3) A reduced-order observer will be designed to estimate the state variables and disturbance. It is given as follows:

  10. Robust CNF Control(7/7) 4) Combining the previous steps to form a robust CNF control law:

  11. Application in a Servo Positioning System(1/5) • The servo motor can be typically modeled as the following second-order system:

  12. Application in a Servo Positioning System(2/5) • First, design a linear state feedback law

  13. Application in a Servo Positioning System(3/5) • Choosing the matrix W to be • Solving the Lyapunov equation for a positive definite matrix P:

  14. Application in a Servo Positioning System(4/5) • The nonlinear feedback part of CNF as follows: • The reduced-order robust CNF controller for the servo motor:

  15. Application in a Servo Positioning System(5/5) • The control input u is as follows:

  16. Output responses in simulation

  17. Control signals in simulation

  18. Estimated disturbances in simulation

  19. Experimental results

  20. Conclusion • The servo system with the robust CNF is capable of fast and accurate settling, and is more robust compared to the previous work with integration action. • This method is able to achieve superior transient and steady-state set-point tracking performance for linear systems.

More Related