Professional Documents
Culture Documents
net/publication/288542773
Active Disturbance Rejection Control for PMLM Servo System in CNC Machining
CITATIONS READS
0 60
1 author:
Wenchao Xue
Chinese Academy of Sciences
47 PUBLICATIONS 730 CITATIONS
SEE PROFILE
Some of the authors of this publication are also working on these related projects:
All content following this page was uploaded by Wenchao Xue on 29 December 2015.
DOI:
Received: 30 October 2013 / Revised: 4 May 2015
c
The Editorial Office of JSSC & Springer-Verlag Berlin Heidelberg 2015
Abstract Uncertain friction is a key factor that influences the accuracy of servo system in CNC ma-
chine. In this paper, based on the principle of Active Disturbance Rejection Control (ADRC), a control
method is proposed, where both the extended state observer (ESO) and the reduced order extended
state observer (RESO) are used to estimate and compensate for the disturbance. The authors prove
that both approaches ensure high accuracy in theory, and give the criterion for parameters selection.
The authors also prove that ADRC with RESO performs better than that with ESO both in distur-
bance estimation and tracking error. The simulation results on CNC machine show the effectiveness
and feasibility of our control approaches.
Keywords Active disturbance rejection control, CNC machine, nonlinear friction, parameter selec-
tion, servo system.
1 Introduction
With the development of the mechanical manufacturing technology, permanent magnet syn-
chronous motor (PMLM) gradually becomes one of the most competitive motion control prod-
ucts with high speed, high precision, high efficiency, which has been widely utilized in domain
such as NC milling machine, cutting machine tool, lathe or high-grade CNC machine tools[1] .
Due to the linear construction, PMLM motor has an incomparable advantage compared with
rotating motor. One of the most important points is that middle mechanical drive conversion
link is saved so as to realize the feeding system “zero transmission”, to improve the system
transmission stiffness and to reduce the mechanical wear substantially. Moreover, it possesses
higher speed and higher acceleration or deceleration ability. As is known, high speed cutting
GUO Jianxin · XUE Wenchao · HU Tao
KLMM, Academy of Mathematic and Systems Science, Chinese Academy of Sciences, Beijing 100190, China;
Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of
Sciences, Beijing 100190, China. Email: wenchaoxue@amss.ac.cn.
∗ This paper was partially supported by the National Key Basic Research Project of China under Grant No.
2011CB302400, the National Basic Research Program of China under Grant No. 2014CB845303 and the National
Center for Mathematics and Interdisciplinary Sciences, Chinese Academy of Sciences.
⋄ This paper was recommended for publication by Editor HONG Yiguang.
2 GUO JIANXIN · XUE WENCHAO · HU TAO
can significantly improve the metal processing precision, surface processing quality and produc-
tion efficiency as well as the service life of CNC machine tools, by the virtue of which PMLM
can meet the needs of high speed and high precision processing. So it is of great significance in
high-end CNC machine[2] .
Although the linear motor has many advantages compared with the rotating motor, the lin-
ear motor control system also claims higher requirements. The mathematical model of PMLM
is a multi-variable, nonlinear system[3] , which makes it difficult to utilize traditional controller.
With the development of research of the control theory and linear motor, many scholars put
forward various methods from classical control to modern control, such as PID control, adaptive
control, self-learning control[4–6] , and so forth. Nevertheless, these control methods have a vari-
ety of limitations, which either rely too much on accurate mathematical model or narrow scope
of robustness. Hence, a better quality, higher efficiency and more practical control algorithm
are the primary issues in need of solution.
The Active Disturbances Rejection Control (ADRC) is a new control method which does not
depend on the accurate mathematical model of the plant. Through improving the classic PID
inherent defects, the controller algorithm is simple, and the parameters of the scope is adaptable.
Since ADRC can utilize the extended state observer to estimate the total disturbance including
the internal and external disturbance of the plant, it can ensure the system to generate ideal
control effect, perform stronger robustness of maneuverability. These virtues attract much
attention both in theory (see [7–9]) and application (see [10–12]).
In this paper, in order to ensure the accuracy in manufacture process, we apply the ADRC
control method to PMLM mounted in CNC motion system with complicated nonlinear part.
We use series square wave to simulate the unspecific part aiming to approximate practical
situation to a great extend. Moreover, ESO used in ADRC is replaced via reduced order ESO
(RESO), the reason for which is that the measured output does not need to be estimated.
Comparisons are presented to verify the effectiveness of ESO and RESO as well. We also
obtain the relationship between the parameters of ESO (and RESO) and tracking performance.
In addition, the theoretical results help to offer the reference for us to select the parameters of
ESO (and RESO) reasonably in practice. An example from CNC is used to test the approach
in the end.
The paper is organized as follows. The model of the motor and the motion control problem
are introduced in Section 2. The general principle and structure of the ADRC are presented
in Section 3. Stability analysis and parameters tuning method are discussed in Section 4.
Simulation test is shown in Section 5. Finally, some concluding remarks are given in Section 6.
where x1 is the motion position, ẋ1 = dxdt , and the parameters have the following meaning:
1
where Fc is the Coulomb friction, Fs is the static friction force, Fv is the viscous friction
coefficient, and xs is the lubrication coefficient. The last part of the friction is a significant
disturbance from the uniform magnetic field of the permanent magnet and other physical im-
perfections in the process of linear driver. These factors could be represented as the wave power
to ripple, which often can be written in the form of trigonometric functions of the load position.
In reality, the ripple force is more complex due to variations in the magnet dimension, but it
has a comparable period and amplitude as described in [15]. So, we have
1 Kf Ke Kf
Regarding the current as the internal disturbance and defining a1 = M( R + D), b0 = MR
and fd (ẋ1 , x1 , w(t)) = FMd , the above equation can be written as
where
x3 = −a1 x2 − fd .
In the frame of ADRC, x3 is regard as the “total disturbance” which lumps the external
and the internal disturbance of the system.
1
Note that fd can be written as fd = fv x2 + f0 , fv = FMv , f0 = M [Fload + Fripple + (Fc +
x
−( x2s )2
(Fs − Fc )e )sign(x2 )] and f0 is bounded.
u0 = kp (v − x
b1 ) + kd (v̇ − x
b2 ) + v̈, (5)
where v stands for the reference input signal, and kp , kd are determined by the controller
bandwidth ωc as follows: kp = ωc2 , kd = 2ωc .
There are two reasons for using the above linear form feedback. First, the controller struc-
ture is simple to be implemented in practice. Second, a large number of application studies
indicate that the linear feedback structure can also perform well to cope with the nonlinear
uncertainties[8, 9, 17] . Thus, the corresponding controller is
u0 − xb3
u= , (6)
b0
which will be used to implement the control in PMLM system (5).
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 5
Since the output of the system y = x1 can be directly measured, it is unnecessary to estimate
x1 by xb1 . According to the reduced order state observer (RESO) in [18], we can design the
following RESO for the PMLM system (5) as follows:
v
ḃ −β 1 vb −β 1 1
2 = 1 2 + 1 x1 + b0 u,
vḃ3 −β2 0 vb3 −β2 0 0
(7)
x
b vb β
2 = 2 + 1 x1 .
x
b3 vb3 β2
ẋ∗1 = x∗2 ,
ẋ∗2 = v̈ − kp (x∗1 − v) − kd (x∗2 − v̇). (10)
Here, the initial value of x∗ are x∗1 (t0 ) = x1 (t0 ), x∗2 (t0 ) = x2 (t0 ). We will show that the
states (x1 , x2 ) of the closed-loop system of ADRC can be closed to the (x∗1 , x∗2 ) for t ∈ [t0 , ∞).
Besides, for convenience, we denote x e = (e e2 )T = (x1 − x∗1 , x2 − x∗2 )T , e = (e1 , e2 , e3 )T =
x1 , x
x1 − x1 , x
(b b2 − x2 , xb3 − x3 )T .
6 GUO JIANXIN · XUE WENCHAO · HU TAO
Theorem 4.1 Based on Assumptions 1 and 2, (5) ensures the closed-loop possessing the
following properties: When ω is large enough,
1 ln ω
ke(t)k ≤ T 1 · , t ∈ ti−1 + 2c22 , ti , (11)
ω ω
ln ω
ke
xk ≤ T 2 · , t ∈ [t0 , ∞), (12)
ω
where c22 = 4.3372, T 1 and T 2 are positives depending on ωc , the initial values, uncertainty,
and the reference signals.
The corresponding proof is in the appendix B. From the analysis above, we can draw the
conclusions:
1) (11) ensures that x b1 , x
b2 and x
b3 can track x1 , x2 and x3 fast, so that the disturbance
estimation is smaller in the sections out of the removable points. Moreover, the disturbance
estimation
√
error can be adjusted via ω. In addition, from the proof in Appendix B, we get T 1 =
c22 c22
c21 s4 + c21 ρ3 , where s4 and ρ3 are positive constants related to the initial values, uncertainty
√
and the reference signal’s bound. Thus, we get that the larger bound of the uncertainty, the
larger ω required to achieve estimation.
2) (12) indicates that the smaller error will be between x(t) and x∗ (t). Viewed from the
δt
4c22 ρ3 r1 (ωc ) e c12
proof in Appendix B, we get T 2 = c11 · δt , where ρ3 is a positive constant related
e 2c12 −1
to the initial values, uncertainty and the reference signal’s bound and r1 (ωc ) is a decreasing
function with respect to ωc . Thus, we get that the larger ω or ωc , the better tracking effect will
be obtained.
The skill used in the proof of the ESO is similar to that of RESO, which is only different
from the other in the order and small change in parameters. Besides, define x e = (e e2 )T =
x1 , x
(x1 − x∗1 , x2 − x∗2 )T , eb = (b
e2 , eb3 )T = (b b3 − x3 )T . Hence, the closed-loop system of PMLM
x2 − x2 , x
using ADRC with RESO can be described as follows.
Theorem 4.2 Based on Assumptions 1 and 2, (8) ensures the following properties: When
ω is large enough,
1 ln ω
kb
e(t)k ≤ T1 · , t ∈ ti−1 + 2c22 , ti , (13)
ω ω
ln ω
ke
xk ≤ T2 · , t ∈ [t0 , ∞), (14)
ω
where c22 = 1.7071, T1 and T2 are positives depending on ωc , the initial values, uncertainty,
and the reference signals.
The corresponding proof is in Appendix A. Similar to the case in Theorem 4.1, we get that
1) (13) confirms that the higher estimation can be achieved through selecting the larger ω
especially when the bound of the uncertainty is considered.
2) Besides, from (14), smaller tracking error, i.e., the difference between x(t) and x∗ (t), will
be obtained via the monotonous selecting larger parameter ω or ωc .
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 7
Remark 4.3 In the light of the proof of Theorems 4.1 and 4.2, we can make a comparison
between ESO and RESO if we choose the same parameters ωc , ω and the same initial values:
1) Since c22 = 4.3372 > c22 = 1.7071, comparison between (11) and (13) shows
∗
ti > t∗i , i = 0, 1, · · · , (15)
which revels that, in the discontinuous points compared with ESO, RESO can estimate the
disturbance faster;
2) According to the proof in Appendix C, we can see that T1 ≤ T1 and T2 ≤ T2 . Therefore,
compared with ESO, the estimation error kb ek is much smaller under RESO. In addition, the
tracking error ke
xk is smaller under RESO as well.
In the next section, simulation will be implemented to further investigate the control effect
between ESO and RESO.
Using this differential equation, the command signal is now available as a function of time.
It is also possible to find the time derivative of the command for control purposes. Finally, it is
easy to implement trajectory tracking process using the closed-loop controllers to regulate the
actuators moving along the planned trajectory. The basic system consists of two motors, each
8 GUO JIANXIN · XUE WENCHAO · HU TAO
motor moving the tool along a single axis of motion. In the simulation below, we apply PMLM
motor to act as the axis drive motor. ESO and RESO are mounted on ADRC, respectively.
The overall system for ESO case is illustrated in Figure 1.
v&&
+
Interpolator v& +
/LQHDU
u0 (t ) 1 u (t ) y (t )
− :HLJKWHG6XP
3ODQW
+ − b0
v + −
x̂2
3UHSURFHVVLQJ ESO
x̂1
Figure 2 is a butterfly curved segments[25] generated from the solid modeler of the CNC
system.
There is a lot of velocity planning methods. In this paper, a quintic splines trajectory
generation algorithm[26] is utilized to connect a series of reference knots that produces con-
tinuous position, feedrate optimization technique in [27] for minimizing the cycle time in ma-
chining spline tool paths with axis velocity, acceleration and jerk limits. The plane butter-
fly curve is discretized to more than 100 points which are close enough to be the reference
~max = (200, 200)mm/s, A
knots. The drive constraints are set to be V ~ max = (4000, 4000)mm/s2,
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 9
J~max = (50000, 50000)mm/s3. The initial and terminal velocities and accelerations are all zero,
and we set the initial position of the curve at origin points (0, 0); the sampling period is set to
be 1ms and the same physical parameters are assumed for both the x and y axes; the parame-
ters of PMLM are given in the Table 1. Especially, Fload is simulated as a piece constants, the
period of which is 3s with eighties percents of the periods being constant value 50 and the rest
being value 100. Simulation is carried out to make comparison between ESO and RESO which
are applied in ADRC by using Matlab/Simulink. The control bandwidth and the bandwidth
for the simulation is ωc =800 and ω =1000, which are adjusted under the guidance from the
theorem discussed in Section 4. The effects are demonstrated in the following figures.
Butterfly Curve
30
20
10
0
Y axis (mm)
−10
−20
−30
−40
−50
−60
−60 −40 −20 0 20 40 60
X axis (mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
Y−Axis (ESO based ADRC)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
Y−Axis (RESO based ADRC)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
100
−100
−200
0 1 2 3 4 5
Time (s)
Y−Axis (ESO based ADRC)
200
Voltage(V)
100
−100
−200
0 1 2 3 4 5
Time (s)
100
−100
−200
0 1 2 3 4 5
Time (s)
Y−Axis (RESO based ADRC)
200
Voltage(V)
100
−100
−200
0 1 2 3 4 5
Time (s)
Figures 3 and 4 are the tracking error comparison. As can be seen from the picture, if we
PN
define mean error emean = ( i=1 |ei |)/N to demonstrate average accuracy in the total progress,
where N denotes the number of the interpolation points, then the corresponding axis average
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 11
The simulation shows that the designed controllers have certain filtering effect for measurement
noise. Obviously, ESO is superior to the RESO in filtering effect for its higher order.
X−Axis (ESO based ADRC)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
Y−Axis (ESO based ADRC)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
0.05
−0.05
0 1 2 3 4 5
Time (s)
Y−Axis (RESO based ADRC)
Tracking Errors(mm)
0.05
−0.05
0 1 2 3 4 5
Time (s)
100
Voltage
0
−100
−200
0 1 2 3 4 5
Time (s)
Y−Axis (ESO based ADRC)
200
Voltage 100
−100
−200
0 1 2 3 4 5
Time (s)
100
Voltage
−100
−200
0 1 2 3 4 5
Time (s)
Y−Axis (RESO based ADRC)
200
100
Voltage
−100
−200
0 1 2 3 4 5
Time (s)
Remark 5.1 RESO performs better than the ESO both in disturbance estimation and
tracking error. The physical reason for this phenomenon should be addressed more vividly.
ω3 ω2
Actually, for ESO, x b3 = (s+ωe )3 x3 ; for RESO x
b3 = (s+ωe )2 x3 . Thus, RESO performs better
e e
than ESO both in estimation speed toward the disturbance and compensation speed toward
the disturbance, and hence the closed-loop property is better. On the other hand, the above
transfer functions mean that ESO is superior to the RESO in filtering the measurement noise.
Hence, we suggest to choose the ESO based ADRC and RESO based ADRC according to the
specific properties of the plant.
6 Conclusion
The permanent magnet linear motor (PMLM) has high speed, high precision, and is widely
used in CNC machining. However, because of its nonlinearity and uncertainty as well as easily
being subjected to the existing outside disturbance, the traditional control method such as
PID is hard to meet its performance requirements. To improve the performance of the system
PMLM, this paper utilizes the ADRC to design the controller in the system of PMLM due to
its good performance, robust, and simple for implementing.
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 13
To mimic the practical manufacture situation, the nonlinear load force of PMLM, including
friction and magnetic resistance as well as the nonlinear disturbances are considered. The
stability of closed-loop system is proved. The control accuracy and quality are analyzed. We
use a tangible manufacture example from CNC machining to perform the simulation of PMLM.
ADRCs using ESO and RESO are implemented to specify the effects of these two methods
respectively.
The result showed the effectiveness and feasibility of both ESO and RESO. Moreover, com-
pared with ESO, RESO exhibits better performance at the cost of a little vibration in control
signal.
References
[1] Brandenburg G, Bruckl S, Dormann J, et al., Comparative investigation of rotary and linear motor
feed drive systems for high precision machine tools, Advanced Motion Control, 2000, Proceedings
6th International Workshop on IEEE, 2000, 384–389.
[2] Seamus G and Michael T H, Development of a high-speed CNC cutting machine using linear
motors, Journal of Materials Processing Technology, 2005, 166(3): 321–329.
[3] Lin F J, Shyu K K, and Lin C H, Incremental motion control of linear synchronous motor, IEEE
Transactions on Aerospace and Electronic Systems, 2002, 38(3): 1011–1022.
[4] Chong G and Li Y, PID control system analysis, design, and technology, IEEE Transactions
Conontrol Systems Technology, 2005, 13(4): 559–576.
[5] Narendra and Kumpati S, Robust adaptive control, American Control Conference, 1984.
[6] Bristow D, Tharayil M, and Alleyne A G, A survey of iterative learning control, IEEE Transactions
Conontrol Systems Technology, 2006, 26(3): 96–114.
[7] Guo B and Zhao Z, On convergence of the nonlinear active disturbance rejection control for mimo
systems, SIAM J. Control and Optimization, 2013, 51(2): 1727–1757.
[8] Zheng Q, Chen Z Z, and Gao Z Q, A practical approach to disturbance decoupling control, Control
Engineering Practice, 2009, 17(9): 1016–1025.
[9] Xue W C and Huang Y, On performance analysis of ADRC for nonlinear uncertain systems
with unknown dynamics and discontinuous disturbances, 2013 Chinese Control Conference, 2013,
1102–1107.
[10] Dong J Y and Li D H, Active disturbance rejection control for complex dynamical systems, System
Science and Mathematic, 2013, 33(6): 639–652 (in Chinese).
[11] Jiang Z, Active disturbance rejection control for the yaw tracking for helicopter, System Science
and Mathematic, 2012, 32(6): 641—652 (in Chinese).
[12] Zheng Q, Gao L Q, and Gao Z, On validation of extended state observer through analysis and
experimentation, Journal of Dynamic Systems Measurement & Control, 2012, 134(2): 224–240.
[13] Xiao Y and Zhu K Y, Optimal synchronization control of highprecision motion systems, IEEE
Transactions on Industrial Electronics, 2006, 53(4): 1160–1169.
[14] Canudas-De-Wit C, Olsson H, Astrom K J, et al., A new model for control of systems with friction,
IEEE Transactions on Automatic Control, 1995, 40(3): 419–425.
[15] Tan K K, Huang S N, and Lee T H, Robust adaptive numerical compensation for friction and
14 GUO JIANXIN · XUE WENCHAO · HU TAO
force ripple in permanent-magnet linear motors, IEEE Transactions on Magnetics, 2002, 38(1):
221–228.
[16] Han J Q, Auto-disturbances-rejection controller and its application, Control and Decision, 1998,
13(1): 19–23.
[17] Gao Z Q, Haung Y, and Han J Q, An alternative paradigm for control system design, IEEE
Conference on Decision and Control, 2001, 5: 4578–4585.
[18] Xue W C, On Theoretical analysis of active disturbance rejection control, Ph.D. Thesis, 2012.
[19] Hu T, Xue W C, and Huang Y, Active disturbance rejection control for permanent magnet linear
motor, Proceedings of the 31st Chinese Control Conference, 2012, 7: 296–301.
[20] Castelino K, D’Souza R, and Wright P K, Tool path optimization for minimizing airtime during
machining, Journal of Manufacturing Systems, 2003, 22(3): 173–180.
[21] Guo J X, Zhang Q, Gao X S, et al., Time optimal feedrate generation with confined tracking error
based on linear programming, Journal of Systems Science and Complexity, 2015, 28(1): 80–95.
[22] Zhang K, Gao X S, Li H, and Yuan C M, A greedy algorithm for feed-rate planning of CNC
machines along curved tool paths with confined jerk for each axis, Robotics and computer Integrated
Manufacturing, 2012, 28: 472–483.
[23] Fan W, Gao X S, Yan W, et al., Interpolation of parametric CNC machining path under confined
jounce, The International Journal of Advanced Manufacturing Technology, 2012, 62(5–8): 719–
739.
[24] Zhao C and Huang Y, ADRC bsed input disturbance rejection for minimum-phase plants with
unknown orders and/or uncertain relative degrees, Journal of Systems Science and Complexity,
2012, 25(4): 625–640.
[25] Yau H T, Lin M T, and Tsai M S, Real-time NURBS interpolation using FPGA for high speed
motion control, Computer-Aided Design, 2006, 38: 1123–1133.
[26] Erkorkmaz K and Altintas Y, High speed CNC system design Part I: Jerk limited trajectory gen-
eration and quintic spline interpolation, International Journal of Machine Tools and Manufacture,
2001, 41: 1323–1345.
[27] Altintas Y and Erkorkmaz K, Feedrate optimization for spline interpolation in high speed machine
tools, CIRP Annals—Manufacturing Technology, 2003, 52(1): 297–302.
Appendix
Before giving the corresponding proof, the closed-loop form of ESO and RESO are rendered
respectively.
From(1), (4), (5), (10), (73), we get the closed-loop system of ESO:
x
ė1 0 1 0 0 0 x
e1 0
x 2 2 2
−1 e −f
ė2 −ωc −2ωc −ωc /ω −2ωc /ω x 2 0
ζ̇1 = 0 0
0 −3ω ω ζ1 + 0 , (16)
ζ̇2 0 0 −3ω 0 ω
ζ2 ωf0
ζ̇3 0 0 −ω 0 0 ζ3 η3
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 15
where
ζ1 ω 2 e1
ζ=
ζ2 = ωe2 ,
(17)
ζ3 e3 − f0
ω2
η3 = −(ωc2 x e2 + ωc2 ζ1 + 2 ωωc ζ2 + ζ3 + f0 )e
e1 + 2ωc x a1 + (ωc2 v + 2ωc v̇ + v̈ − ωc2 x∗1 − 2ωc x∗2 )e
a1 ,
a1 = a1 + f v .
e
Besides, from (5), (8), (10), (20), we can obtain the closed-loop system of RESO:
x
ė1 0 1 0 0 x
e1 0
x 2 e −f
ė2 −ωc −2ωc −2ωc/ω −1 x 2 0
= + , (18)
ξ̇2 0 0 −2ω ω ξ2 ωf0
ξ̇3 0 0 −ω 0 ξ3 η1
where
ξ2 ωb
e2
ξ= = . (19)
ξ3 eb3 − f0
and η1 = −(ωc2 x e2 + 2ω
e1 + 2ωcx ω ξ2 + ξ3 + f0 )e
c
a1 + (ωc2 v + 2ωc v̇ + v̈ − ωc2 x∗1 − 2ωcx∗2 )e
a1 , e
a1 = a1 + f v .
The proof from ESO is similar to that from RESO. Nevertheless, the proof of RESO is more
presentative, which helps to understand the principle and process of the proof. Hence, we give
more detail to RESO initially.
Appendix A: The Proof of Theorem 4.2
We will prove the theorem in two steps.
Step 1 Prove that x1 , x2 , eb2 , eb3 are bounded in [t0 , ∞).
Make transformation
ξ2 ωb
e2
ξ= = . (20)
ξ3 eb3 − f0
Define
0 1 0 0 −2 1
Ac = , Bc = , A2 = .
−ωc2 −2ωc −2ωc /ω −1 −1 0
Since Ac , A2 are Hurwitz matrixes, there exist positive matrixes P1 = mn and P2 =
n l
p q , satisfying
qr
AT
c P1 + P1 Ac = −I2 , c11 I2 ≤ P1 ≤ c12 I2 (21)
AT
2 P2 + P2 A2 = −I2 , c21 I2 ≤ P2 ≤ c22 I2 , (22)
16 GUO JIANXIN · XUE WENCHAO · HU TAO
where c11 , c12 are the minimum and maximum eigenvalues of P1 ; c21 , c22 are the minimum and
maximum eigenvalues of P2 . From (21), (22), we have
2
ωc +5 1 1 1
2 −
P1 = 4ωc ω2ω 2
c
, P2 = 2 2
,
1 c +1 1 3
2ωc 2 4ωc 3 − 2 2
1 h 4 2
p i
c11 = 3
ωc + 6ωc + 1 − (ωc4 + 6ωc2 + 1)(ωc4 + 2ωc2 + 1) , (23)
8ωc
1 h p i
c12 = 3
ωc4 + 6ωc2 + 1 + (ωc4 + 6ωc2 + 1)(ωc4 + 2ωc2 + 1) ,
8ωc
√ √
2− 2 2+ 2
c21 = , c22 = .
2 2
k·k below is the 2-norm. Define Lyapunov function, along the trajectory of (18): V1 (e eT P1 x
x) = x e
V̇1 (e xT P1 x
x) = 2e xk2 + 2e
ė = −ke xT P1 (Bc ξ + ( 0 1 )T (−f0 ))
xk2 + 2ke
≤ −ke xk · kP1 ( 0 1 )T f0 k.
xk · kP1 Bc k · kξk + 2ke
In the formula above, when ω ≥ 2ωc , the second and the last parts of the equation are
!
√ √
−2nωc /ω −n
kP1 Bc k ≤ 2kP1 Bc k1 = 2
−2lωc /ω −l 1
√
= 2(n + l) max{2ωc /ω, 1}
√ 1 ωc2 + 1
= 2 + ,
2ωc2 4ωc3
s
p 2 2 2
T 1 ωc + 1
2 2
kP1 0 1 f0 k = |f0 | n + l = |f0 | + .
2ωc2 4ωc3
1
Due to the bound of the |f0 | (f0 = M (Fload+ Fripple )), suppose |f0 | ≤ κ1 and define
√ 1 ωc2 + 1
r1 (ωc ) = 2 2 + , (24)
2ωc2 4ωc3
s 2 2 2
1 ωc + 1
r2 (ωc ) = 2 + . (25)
2ωc2 4ωc3
Then
Suppose |f0 − (ωc2 v + 2ωc v̇ + v̈ − ωc2 x∗1 − 2ωc x∗2 )| ≤ κ2 , and define
p
s1 (ωc ) = |ea1 | 10((2ωc )2 + ωc4 ), (27)
√
s2 = 2 5|e a1 |, (28)
√
s3 = κ2 10|e a1 |. (29)
Define
p √ ρ2
ρ1 = max V1 (e
x(t0 )), 2 c12 √ r1 (ωc ) + κ1 r2 (ωc ) , (31)
c21
p √ √
ρ2 = max{ V2 (ξ(t0 )), ( 2 + 1) c22 κ1 }. (32)
p
We will prove that when ω > κ11 ( √ρc222 s1 (ωc ) √ρc111 + s2 + s3 ), then Ω = {(e x) ≤
x(t0 ), ξ)| V1 (e
p
ρ1 , V2 (ξ) ≤ ρ2 } is a positive invariant set of (18). We develop the proof in two situations:
p p
x) = ρ1 , V2 (ξ) ≤ ρ2 , then from (26), along the trajectory of (18), we have
i) if V1 (e
x) ≤ −ke
V̇1 (e xk · [ke
xk − (r1 (ωc )kξk + κ1 r2 (ωc ))]
ρ1 ρ2
≤ −kexk · √ − r1 (ωc ) √ + κ1 r2 (ωc )
c12 c21
ρ2
≤ −kexk · r1 (ωc ) √ + κ1 r2 (ωc )
c21
≤ 0; (33)
p p
x) ≤ ρ1 , V2 (ξ) = ρ2 , then from (30), along the trajectory of (18), we have
ii) if V1 (e
√
V̇2 (ξ) ≤ −kξk · [(ω − s2 )kξk − (( 2ωκ1 + s3 ) + s1 (ωc )ke xk)]
ρ2 √ ρ1
≤ −kξk · (ω − s2 ) √ − ( 2ωκ1 + s3 ) + s1 (ωc ) √
c22 c11
ρ2 √ ρ2 ρ1
≤ −kξk · √ − 2κ1 ω − √ s2 + s3 + s1 (ωc ) √
c22 c22 c11
ρ2 ρ1
≤ −kξk · κ1 ω − √ s2 + s3 + s1 (ωc ) √
c22 c11
< 0. (34)
18 GUO JIANXIN · XUE WENCHAO · HU TAO
From (33) and (34), we can come to the comclusion: If ω > κ11 ( √ρc111 s1 (ωc ) + √ρc222 s2 + s3 ), Ω is
a positive invariant set of (18).
From the analysis above, we can draw the conclusion that when the bandwidth of RESO ω
and the bandwidth of control ωc satisfy
1 ρ1 ρ2
ω > max 2ωc , √ s1 (ωc ) + √ s2 + s3 , (35)
κ1 c11 c22
then ke
xk, kξk are bounded:
ρ1 ρ2
ke
xk ≤ √ , kξk ≤ √ . (36)
c11 c21
Since x
e= x1 − x∗ , and x∗ , ẋ∗ are bounded, x and x are bounded. At the same time, from
1 2
x2 − ẋ ∗
Define δt = inf i {ti − ti−1 }. The derivative of f0 in a general form can be defined as
df0 , t 6= ti ,
f˙0 = dt (37)
H δ(t − t ), t = t ,
i i i
Make a transformation:
ξ2 ωb
e2
ξ= = . (38)
ξ3 eb3 .
where
η2 = −(ωc2 x
e1 + 2ωc x
e2 + 2ωc eb2 + eb3 )e a1 + f˙0 .
a1 + (ωc2 v + 2ωc v̇ + v̈ − ωc2 x∗1 − 2ωc x∗2 )e (40)
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 19
Define
2c22 ln ω
t∗0 = t0 + . (47)
ω
From (45), t∗0 < t1 , then
ω 1
e− 2c22 (t−t0 ) ≤ , t ≥ t∗0 . (48)
ω
From (44) and (48), we get
q
1 c22 s4 √
V2 (ξ) ≤ √ + ρ3 c22 , t ∈ [t∗0 , t1 ). (49)
ω c21
Hence,
√
1 c22 c22
kξk ≤ s4 + √ ρ3 , t ∈ [t∗0 , t1 ). (50)
ω c21 c21
Define
2c22 ln ω
t∗1 = t1 + . (53)
ω
Then
− 2cω (t−t1 ) 1
e 22 ≤ , t ≥ t∗1 . (54)
ω
From (52) and (54), we obtain
q
1 c22 s4 √
V2 (ξ) ≤ √ + ρ3 c22 , t ∈ [t∗1 , t2 ). (55)
ω c21
Hence,
√
1 c22 c22
kξk ≤ s4 + √ ρ3 , t ∈ [t∗1 , t2 ). (56)
ω c21 c21
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 21
Next, we will prove that, when ω is large enough (ω ≫ 1), kx(t) − x∗ (t)k ≤ O( lnωω ), t ∈
[t0 , ∞).
Along the trajectory of (39) we have
V̇1 (e xT P1 x
x) = 2e xk2 + r1 (ωc )kξ|k · ke
ė ≤ −ke xk.
So
dp V˙1 (e
x) kexk2 xk · kξk
r1 (ωc )ke
x) = p
V1 (e ≤− p + p
dt 2 V1 (e x) 2 V1 (ex) 2 V1 (ex)
p
V1 (e
x) r1 (ωc )
≤− + √ kξk.
2c12 2 c11
Since x
e(t0 ) = 0, from Gronwall-Bellman inequation, we get
p Z
r1 (ωc ) t − 2c
t−τ
x) ≤ √
V1 (e e 12 kξ(τ )kdτ. (60)
2 c11 t0
When tk−1 ≤ t < tk ,
X
k Z t∗ X Z ti
k−1
p r1 (ωc ) i−1 t−τ
− 2c t−τ
x) ≤ √
V1 (e e 12 kξ(τ )kdτ + e− 2c12 kξ(τ )kdτ
2 c11 i=1 ti−1 i=1 t∗
i−1
Z t
t−τ
+ e− 2c12 kξ(τ )kdτ . (61)
t∗
k−1
From (41),
X Z ti
k−1 Z t √
t−τ t−τ c22 c22 1
e− 2c12 kξ(τ )kdτ + e− 2c12 kξ(τ )kdτ < s4 + √ H , (62)
i=1 t∗
i−1 t∗
k−1
c21 c21 ω
k Z
X t∗ k t δ
i−1 t−τ
− 2c ln ω X − t−ti e 2c12 ln ω
e 12 kξ(τ )kdτ ≤ 4c ρ e 2c12
≤ 4c ρ . (63)
22 3 22 3 δt
i=1 ti−1 ω i=1 1 − e− 2c12 ω
Then, from (61), (62) and (63), we get
√ δt
p r1 (ωc ) c22 c22 1 e 2c12 ln ω
x) ≤ √
V1 (e s4 + √ ρ3 + 4c22 ρ3 δt . (64)
2 c11 c21 c21 ω 1 − e− 2c12 ω
22 GUO JIANXIN · XUE WENCHAO · HU TAO
Hence,
√ δt
r1 (ωc ) c22 c22 1 e 2c12 ln ω
ke
xk ≤ s4 + √ ρ3 + 4c22 ρ3 δt . (65)
2c11 c21 c21 ω 1 − e− 2c12 ω
√ δt
c e 2c12
When ( cc22 s4 + √ 22 H) 1 ≤ 4c22 ρ3 ln ω
21 c21 ω −
δt ω , namely,
1−e 2c12
√
c22 s + c
√ 22 H
δt
c21 4 c21 e 2c12 − 1
ω ≥ ω2 = exp · δt , (66)
4c22 ρ3 e c12
δt
4c22 ρ3 r1 (ωc ) e c12 ln ω
ke
xk ≤ · δt · . (67)
c11 e 2c12 − 1 ω
To sum up, from (45), (51), (59), (66) and (67), when ω ≥ ω ∗ we have
1 ρ1 ρ2
ω ∗ = max 2ωc , √ s 1 (ω c ) + √ s 2 + s 3 , ω 1 , ω 2 , (68)
κ1 c11 c22
1 ln ω
kb
e(t)k ≤ T1 · , t ∈ ti−1 + 2c22 , ti , (69)
ω ω
ln ω
ke
xk ≤ T2 · , t ∈ [t0 , ∞), (70)
ω
where
√
c22 c22
T1 = s4 + √ ρ3 , (71)
c21 c21
δt
4c22 ρ3 r1 (ωc ) e c12
T2 = · δt , (72)
c11 e 2c12 − 1
are constants depend on ωc , the initial values, the uncertainty and the reference signals.
Appendix B: The Proof of Theorem 4.1
The proof is similar to that of Theorem 4.2. We only render the important variables form
so that can make comparison with RESO.
Make a transformation
ζ1 ω 2 e1
ζ=
ζ2 = ωe2 .
(73)
ζ3 e3 − f0
Define
−3 1 0
0 1
Ac = , Aζ =
−3 0 1 .
−ωc2 −2ωc
−1 0 0
For Ac , Aζ are Hurwitz matrixes, so there exist positive matrix P1 and P 2 , satisfying
AT
c P1 + P1 Ac = −I2 , c11 I2 ≤ P1 ≤ c12 I2 (74)
AT
ζ P 2 + P 2 Aζ = −I3 , c21 I2 ≤ P 2 ≤ c22 I2 , (75)
ACTIVE DISTURBANCE REJECTION CONTROL FOR PMLM SERVO SYSTEM 23
where c11 , c12 are the minimum and maximum eigenvalue of P1 , c21 , c22 are the minimum and
maximum eigenvalue of P 2 . Corresponding to (23), we have
2 1 − 1
−1
ωc +5 1 2
2
P1 = 4ωc ω2ω c
, P 2 = − 1 1 − 1 ,
1
2
c +1
2 2
2ωc2 4ωc3 −1 − 12 4
1 h 4 2
p i
4 + 6ω 2 + 1)(ω 4 + 2ω 2 + 1) ,
c11 = ω + 6ω + 1 − (ω (76)
8ωc3 c c c c c c
1 h p i
4 2 4 + 6ω 2 + 1)(ω 4 + 2ω 2 + 1) ,
c12 = ω c + 6ω c + 1 + (ω c c c c
8ωc3
c21 = 0.1966, c22 = 4.3372.
then ke
xk, kζk are bounded:
ρ ρ
xk ≤ √ 1 ,
ke kζk ≤ √ 2 . (85)
c11 c21
For x
e= x1 − x∗ and transformation (73), so x, eb are bounded.
x2 − ẋ∗
Make a transformation:
ζ1 ω 2 e1
ζ=
ζ 2 = ωe2 .
(86)
ζ3 e3
24 GUO JIANXIN · XUE WENCHAO · HU TAO
where
2 ωc2 2ωc
η4 = − ωc x e1 + 2ωc xe2 + 2 ζ 1 + ζ + ζ3 e a1
ω ω 2
c c 1 a1 + f˙0 .
+(ω 2 v + 2ωc v̇ + v̈ − ω 2 x∗ − 2ωc x∗ )e 2 (88)
and
√ δt
r1 (ωc ) c22 c22 1 e 2c12 ln ω
ke
xk ≤ s4 + √ H + 4c22 ρ3 δt · , t ∈ [t0 , ∞). (94)
2c11 c21 c21 ω 1 − e− 2c12 ω
√ δt
√c22 H) 1 e 2c12 ln ω
So when ( cc22
21
s4 + c21 ω ≤ 4c22 ρ3 −
δt · ω , i.e.,
1−e 2c12
√
c22 s + √c22 H
δt
c21 4 c21 e 2c12 − 1
ω ≥ ω 2 = exp · δt , (95)
4c22 ρ3 e c12
δt
4c22 ρ3 r1 (ωc ) e c12 ln ω
ke
xk ≤ · δt · . (96)
c11 e 2c12 − 1 ω
Summing up the above (90), (92), (93), (95), (96), we have when
1 ρ ρ
ω ∗ = max 2ωc , √ 1 s1 (ωc ) + √ 2 s2 + s3 , ω 1 , ω 2 , (97)
κ1 c11 c22
then when ω ≥ ω ∗ ,
1 ln ω
kb
e(t)k ≤ T 1 · , t ∈ ti−1 + 2c22 , ti , (98)
ω ω
ln ω
ke
xk ≤ T 2 · , t ∈ [t0 , ∞), (99)
ω
where
√
c22 c22
T1 = s4 + √ ρ3 , (100)
c21 c21
δt
4c22 ρ3 r1 (ωc ) e c12
T2 = · δt (101)
c11 e 2c12 − 1
are constants which depend on ωc , initial values, uncertainty, and the reference signals.
Appendix C: The Proof of T1 ≤ T1 and T2 ≤ T2
Comparing (41) with (89), (40) with (83), we have ρ3 ≥ ρ3 . From (40), (88) and kη4 (t)k ≤
κ3 , kη2 (t)k ≤ κ3 , t 6= ti , i = 1, 2, · · · , we have κ3 > κ3 . Hence, s4 > s4 . Because c22 > c22 and
c22 c22
c21 = 22.0610 > c21 = 5.8284, comparing (71) and (100), we have T1 ≤ T1 .
Besides, for ρ3 ≥ ρ3 and c22 > c22 , comparing (72) with (101), we have T2 ≤ T2 .