Robust proximate time-optimal servomechanism with speed constraint for rapid motion control

A control scheme is proposed to achieve fast and accurate set-point servo motion in typical double integrator systems subject to disturbances and speed constraint. The controller consists of a Proximate Time-optimal Servomechanism (PTOS) control law and a compensation term for the unknown disturbance. An extended state observer is adopted to estimate the un-measured velocity signal and the unknown disturbance. In the presence of speed constraint, a speed regulation stage is incorporated between the PTOS acceleration and deceleration stages. The closed-loop stability is analyzed theoretically. The control scheme is then applied to the position-velocity control loop in a permanent magnet synchronous motor servo system for set-point tracking. MATLAB simulation has been conducted, followed by experimental verification based on the TMS320F2812 DSP controller board. The results confirm that the proposed control scheme can track a wide range of target references fast and accurately, and has good performance robustness with respect to the disturbance and parameter variations.

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