Control of a DC motor using algebraic derivative estimation with real time experiments

Abstract

This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodol-ogy only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor's initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the deriva-tive estimation process does not require initial conditions or dependence between the sys-tem input and output, and the algorithm is computed online and in real time. The effectiveness of the proposed controller has been verified by means of computer simula-tions and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

Linear active disturbance rejection control of the hovercraft vessel model

“…In this case, several algorithms based on the GPI philosophy have been carried out in electronic applications such as the control of Buck converters (Zurita-Bustamante et al, 2011) or the control of single-phase multilevel cascade inverters (Juárez-Abad et al, 2014). Taking into consideration the slow dynamics of the hovercraft vessel model in comparison with the electronic applications described above, the synthesization of the robust controller designed on a field programmable gate array (FPGA) (Juárez-Abad et al, 2014;Morales et al, 2014aMorales et al, , 2013Zurita-Bustamante et al, 2011) or low-cost architectures based on reconfigurable logic (Morales et al, 2014b) does not present any problem regarding computation time requirements.…”

An Efficient on‐Line Parameter Identification Algorithm for Nonlinear Servomechanisms with an Algebraic Technique for State Estimation

“…The steps required to implement the methodology are briefly described in the next. However, fundaments and applications can be found in [32][33][34][35].…”

Online signal filtering based on the algebraic method and its experimental validation

“…The formulae for _ y , € y , etc., are therefore valid for t Zt r þϵ 40. During the interval of time ½t r ; t r þ ϵÞ, it is possible to replace their values with arbitrary constant values or with appropriate function approximations (see [27,32] for details). The issue of how and when to update, or re-initialize, the computations is examined below.…”