Disturbance observer based motion controller using digital signal processor

Accurate performance of servomotor drives is required in many industrial applications on today's automatically controlled machines. This thesis presents the robust control technique applied to a motion controller. A disturbance observer was designed first. For quick response to a reference speed command, a predictive controller was then designed. A disturbance observer and a predictive controller were combined to form a robust system for a motor controller. This control arrangement makes it possible to have a wide range of motor parameter variation, and also provides stable operation.

The control system was then simulated using PC-SIMNON. After computer simulation verification, the speed control system was implemented using two microprocessors: TMS320C14 for computation and INTEL 80286 for monitoring and user interface. Both simulation and experimental results show superior operation of the system with the disturbance observer.