Extended State Observer Based Compound Control for DC Motor Servo System without Speed Sensor

With regard to a typical DC motor servo system without actual angular speed sensor, a extended state observer (ESO) based compound control scheme is put forward in this paper. A nonlinear ESO (NESO) is designed to estimate the current uncertain dynamics and the actual angular speed of DC motor servo system, which improves the robust property of control system and lays the foundation for the design of outer-loop controller. Based on the as-built NESO in inner loop, an outer-loop compound controller by means of state-space design method is proposed in order to realize high-precision position tracking ability of DC motor servo system. Computer simulation results present that, compared with traditional control schemes, the proposed control scheme can guarantee the higher tracking precision of DC motor servo system. Moreover, it possesses stronger robustness against system uncertainties including modeling errors, parameter perturbations and friction moment disturbance, and also produces smooth control outputs, which is beneficial for the further implementation in engineering application.

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