Tham khảo tài liệu 'motion control theory needed in the implementation of practical robotic systems 2 part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 4 The State of Motor Control Academia PI Torque Load 200 -------------- ---------- 100 0 -------------------- -100 -200 -------- ------- ------- 0 1 PI Velocity SMC Torque Load 200 ---------. -------------- 100 0 -------------------- -100 -200 -------- ------- -------- 0 1 Figure . Comparison of three control strategies with Jactual 10 Jassumed J 10 . 41 Chapter 4 The State of Motor Control Academia Conclusion This chapter covers motor modeling in the state space domain transformations from the stationary three-phase reference frame to the rotating reference frame and simplified state equation models of DC motors. The sliding mode controller is shown to have superior disturbance rejection over linear controllers but is impractical due to chattering. The sliding mode observer with disturbance canceling feedforward is demonstrated as a method of maintaining superior performance and removing the chattering problem. The method both improves disturbance rejection with a step disturbance and improves disturbance rejection and transient times with a sinusoidal disturbance. Many other control schemes are possible and every other advanced control scheme known to mankind has probably also been applied to motors. All of these schemes assume some knowledge about the inertia or the torque load. When all assumptions of knowledge about the system and its load are removed all these advanced control schemes reduce to P or PI like schemes. With a plant with only one input and one output even sliding mode control reduces to bang-bang control and bang-bang control is really P control with a very high gain. Another example of an advanced linear control scheme that turns out not to help much is H-infinity control. H-infinity control is the solution to the Problem of Differential Games also known as the minimax problem. The problem goes like this Assume that all parameter errors and system disturbances will combine in the worse possible way the way that .
