Abstract In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of reconstructing various types of disturbances (including complex, harmonic signals). A special formulation of the proposed design allows the control action to be expressed in a concise and practically appealing form reducing its implementation requirements. The obtained experimental results show increased performance of the introduced approach over conventionally used methods in tracking precision and disturbance rejection, while keeping similar level of energy consumption. A stability analysis using theory of singular perturbation further supports the validity of proposed control approach.

中文翻译：

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基于多重扰动的主动抑制的稳健变流器馈电电机控制

摘要 在这项工作中，提出了一种用于降压转换器馈电直流电机系统的高级运动控制器。该设计基于自抗扰控制 (ADRC) 的思想，其关键组件是能够重建各种类型干扰（包括复杂的谐波信号）的定制观测器。建议设计的特殊表述允许以简洁且实际吸引人的形式表达控制动作，从而减少其实施要求。获得的实验结果表明，所引入的方法在跟踪精度和干扰抑制方面比传统使用的方法具有更高的性能，同时保持相似的能耗水平。使用奇异扰动理论的稳定性分析进一步支持了所提出的控制方法的有效性。