Robust converter-fed motor control based on active rejection of multiple disturbances

TL;DR

This paper introduces a robust active disturbance rejection control method for buck converter-fed DC motors, improving tracking accuracy and disturbance rejection while maintaining energy efficiency, supported by experimental validation and stability analysis.

Contribution

The paper presents a novel ADRC-based controller with a custom observer for complex disturbances, offering a concise implementation and enhanced performance over traditional methods.

Findings

Improved tracking precision and disturbance rejection.

Maintained similar energy consumption levels.

Validated stability through singular perturbation theory.

Abstract

In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of reconstructing various types of disturbances (including complex, harmonic signals). A special formulation of the proposed design allows the control action to be expressed in a concise and practically appealing form reducing its implementation requirements. The obtained experimental results show increased performance of the introduced approach over conventionally used methods in tracking precision and disturbance rejection, while keeping similar level of energy consumption. A stability analysis using theory of singular perturbation further supports the validity of proposed control approach.