Disturbance Observer-Based Motion Control Of Direct Drive Motors

Khor, Hooi Khee (2013) Disturbance Observer-Based Motion Control Of Direct Drive Motors. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

In this project, the design of a disturbance observer for a positioning table which is actuated by direct drive motor is considered. Direct drive motor is the driving part that directly connected to the driven part without using gearbox. The advantages of direct drive motor are frictionless, high efficiency, noise reduction and high torque is produced at low speed. However, the direct drive motor has its limitation which is sensitive to the disturbance and parameter variation. Therefore, a control method that is robust and has low sensitivity to disturbance is proposed in this project. The disturbance observer is designed as the feedback controller to estimate the disturbance and parameter variation. Besides that, PD controller is designed. The motion control performance such as tracking control and positioning performance of PD controller with disturbance observer (PDDO) is evaluated and compared with a PID controller. Both of the tracking control and positioning control are tested with different mass and force coefficient. The positioning performance of PDDO is more robust compare to PID controller.

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