Dynamic tracking performance of servo mechanisms based on compound controller

作者:Wen, N(Wen, Nuan)^[1];Liu, ZH(Liu, Zhenghua)^[1];Zhang, F(Zhang, Fang)^[2];Ren, Y(Ren, Yan)^[3]  

This article provides systematic analysis and controller design methods for dynamic tracking performance of servo mechanisms associated with practical systems. Discrete general composite nonlinear feedback, as a fundamental controller, will be proposed to yield a good transient performance. Particularly, in the servo systems, there also exist unmodeled disturbances which may lead to tracking errors. A novel repetitive control scheme based on disturbance observer configuration is incorporated into the controller to counteract this unexpected effect. Furthermore, to deal with any periodic signal of variable frequency, a fractional-order repetitive control scheme based on disturbance observer strategy is proposed. The stability of the overall closed-loop system is guaranteed via frequency domain analysis. Three controllers, that is, the proportional-derivative controller with zero-phase error tracking controller scheme and the conventional disturbance observer, the integral backstepping controller, and the compound discrete general composite nonlinear feedback controller with fractional-order repetitive control scheme based on disturbance observer are compared. To demonstrate the dynamic tracking performance of the proposed control strategy, comparative experiments are conducted.

作者关键词:Servomechanisms;dynamic tracking performance;repetitive control;composite nonlinear feedback control;fractional order  

KeyWords Plus:NONLINEAR FEEDBACK-CONTROL;DISTURBANCE OBSERVER;REPETITIVE CONTROLLER;LINEAR-SYSTEMS;HIGH-SPEED;DESIGN;TRANSIENT;FILTERS  

通讯作者地址:Wen, N (通讯作者)

Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China.

地址:

	[ 1 ] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
	[ 2 ]Beihang Univ, Sch Econ & Management, Beijing, Peoples R China
	[ 3 ] Inner Mongolia Univ Sci & Technol, Sch Informat Engn, Baotou, Peoples R China

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