Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation

J Chen; E Prempain; Q H Wu

doi:10.1007/s11633-006-0084-y

January 2006

Article Contents

J Chen, E Prempain and Q H Wu. Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation. International Journal of Automation and Computing, vol. 3, no. 1, pp. 84-90, 2006 doi: 10.1007/s11633-006-0084-y

Cite as: J Chen, E Prempain and Q H Wu. Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation. International Journal of Automation and Computing, vol. 3, no. 1, pp. 84-90, 2006 doi: 10.1007/s11633-006-0084-y

Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation

1.
Department of Electrical Engineering and Electronics, The University of Liverpool, Liverpool L69 3G J, UK

Received: 2004-08-26

Abstract

This paper presents an observer-based nonlinear control method that was developed and implemented to provide accurate tracking control of a limited angle torque motor following a 50Hz reference waveform. The method is based on a robust nonlinear observer, which is used to estimate system states and perturbations and then employ input-output feedback linearization to compensate for the system nonlinearities and uncertainties. The estimation of system states and perturbations allows input-output linearization of the nonlinear system without an accurate mathematical model of nominal plant. The simulation results show that the observer-based nonlinear control method is superior in comparison with the conventional model-based state feedback linearizing controller.
- Torque motor,
- nonlinear observer,
- fictitious state,
- perturbation estimation

References

[1]	A.E.Laws.An Electromechanical Transducer with Permanent Magnet Polarisation.Technical Report,GW202,Royal Aircraft Establishment,Farnborough,United Kingdom.
[2]	Y.Zhang,I.L R.Smith,J.G.Kettleborough.Accurate Tracking Control of a Limited Angle Torque Motor.Electric Machines and Power systems,vol.27,pp.1191-1199,1999.
[3]	A.Isidori.Nonlinear Control Systems,New York:SpringerVerlag,1995.
[4]	X.Y.Lu,S.K.Spurgeon.Output Feedback Stabilization of SISO Nonlinear System via Dynamic Sliding Mode.International Journal of control,vol.70,no.5,pp.735-759,1998.
[5]	B.L.Walcott,M.J.Coreless.Comparative study of nonlinear state observation techniques.International Journal of Control,vol.45,pp.2109-2132,1987.
[6]	E.A.Misawa,J.K.Hedrick.Nonlinear Observers:A stateof-the art survey.ASME Journal Dynamic Systems,Measurement and Control,vol.111,pp.344-352,1982.
[7]	D.Bestle,M.Zeitz.Canonical form observer design for nonlinear time variable system.International Journal of Control,vol.38,pp.419-431,1986.
[8]	H.Khalil.High gain observer in nonlinear feedback control,Chapter 4,New direction in nonlinear observer design,pp.249-264,Springer,London,1999.
[9]	K.Youcef-Toumi.A Time Delay Controller for Systems With Unknown Dynamics.ASME Journal Dynamic Systems,Measurement and Control,vol.112,no.1,pp.10-19,1990.
[10]	H.Elmani,N.Olgac.Sliding Mode Control with Perturbation Estimation(SMCPE):A New Approach.International Journal of control,vol.56,no.4,pp.923-941,1992.
[11]	L.Jiang,Q.H.Wu.Nonlinear adaptive control via sliding mode state and perturbation observer.IEE Proceedings Pt D,Journal of Control Theory and Applications,vol.149,no.4,pp.269-277,2002.
[12]	Q.H.Wu,L.Jiang,J.Y.Wen.Decentralised adaptive control of interconnected non-linear systems using high gain observer.International Journal of Control,vol.77,no.8,pp.703-712,2004.
[13]	Q.H.Wu,L.Jiang.Nonlinear adaptive co-ordinated control of multi-machine power systems.Transactions of the Institute of Measurement and Control,vol.24,no.3,pp.195-213,2002.
[14]	J.Q.Han.The Extended State Observer of a Class of Uncertain Systems.Control and Decision,vol.10,no.1,pp.85-88,1995.(in Chinese)
[15]	Y.Zhang.High Performance DSP-Based Servo Drive Control for a Limited-Angle Torque Motor,Ph.D.dissertation,Dept.Electron.Elect.Eng.,Loughborough Univ.,Loughborough,U.K.,1997.

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通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

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Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation

1. Department of Electrical Engineering and Electronics, The University of Liverpool, Liverpool L69 3G J, UK

Received: 2004-08-26

Key words:

Abstract: This paper presents an observer-based nonlinear control method that was developed and implemented to provide accurate tracking control of a limited angle torque motor following a 50Hz reference waveform. The method is based on a robust nonlinear observer, which is used to estimate system states and perturbations and then employ input-output feedback linearization to compensate for the system nonlinearities and uncertainties. The estimation of system states and perturbations allows input-output linearization of the nonlinear system without an accurate mathematical model of nominal plant. The simulation results show that the observer-based nonlinear control method is superior in comparison with the conventional model-based state feedback linearizing controller.

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Reference (15)

[1]	A.E.Laws.An Electromechanical Transducer with Permanent Magnet Polarisation.Technical Report,GW202,Royal Aircraft Establishment,Farnborough,United Kingdom.
[2]	Y.Zhang,I.L R.Smith,J.G.Kettleborough.Accurate Tracking Control of a Limited Angle Torque Motor.Electric Machines and Power systems,vol.27,pp.1191-1199,1999.
[3]	A.Isidori.Nonlinear Control Systems,New York:SpringerVerlag,1995.
[4]	X.Y.Lu,S.K.Spurgeon.Output Feedback Stabilization of SISO Nonlinear System via Dynamic Sliding Mode.International Journal of control,vol.70,no.5,pp.735-759,1998.
[5]	B.L.Walcott,M.J.Coreless.Comparative study of nonlinear state observation techniques.International Journal of Control,vol.45,pp.2109-2132,1987.
[6]	E.A.Misawa,J.K.Hedrick.Nonlinear Observers:A stateof-the art survey.ASME Journal Dynamic Systems,Measurement and Control,vol.111,pp.344-352,1982.
[7]	D.Bestle,M.Zeitz.Canonical form observer design for nonlinear time variable system.International Journal of Control,vol.38,pp.419-431,1986.
[8]	H.Khalil.High gain observer in nonlinear feedback control,Chapter 4,New direction in nonlinear observer design,pp.249-264,Springer,London,1999.
[9]	K.Youcef-Toumi.A Time Delay Controller for Systems With Unknown Dynamics.ASME Journal Dynamic Systems,Measurement and Control,vol.112,no.1,pp.10-19,1990.
[10]	H.Elmani,N.Olgac.Sliding Mode Control with Perturbation Estimation(SMCPE):A New Approach.International Journal of control,vol.56,no.4,pp.923-941,1992.
[11]	L.Jiang,Q.H.Wu.Nonlinear adaptive control via sliding mode state and perturbation observer.IEE Proceedings Pt D,Journal of Control Theory and Applications,vol.149,no.4,pp.269-277,2002.
[12]	Q.H.Wu,L.Jiang,J.Y.Wen.Decentralised adaptive control of interconnected non-linear systems using high gain observer.International Journal of Control,vol.77,no.8,pp.703-712,2004.
[13]	Q.H.Wu,L.Jiang.Nonlinear adaptive co-ordinated control of multi-machine power systems.Transactions of the Institute of Measurement and Control,vol.24,no.3,pp.195-213,2002.
[14]	J.Q.Han.The Extended State Observer of a Class of Uncertain Systems.Control and Decision,vol.10,no.1,pp.85-88,1995.(in Chinese)
[15]	Y.Zhang.High Performance DSP-Based Servo Drive Control for a Limited-Angle Torque Motor,Ph.D.dissertation,Dept.Electron.Elect.Eng.,Loughborough Univ.,Loughborough,U.K.,1997.

Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation

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