Observer-based adaptive sliding mode disturbance observer control for multi-motor speed regulation with parameter variations is a control strategy used in industrial applications to achieve accurate and robust speed control of multiple motors, even in the presence of uncertainties and disturbances. Here are the principles of this control approach:
Sliding Mode Control (SMC):
Sliding Mode Control is a robust control technique that ensures the system's state trajectory reaches and stays on a predefined sliding surface. The sliding surface is designed to minimize the effects of disturbances and uncertainties on the system. By achieving sliding mode behavior, the system can exhibit robustness to parameter variations and external disturbances.
Disturbance Observer (DOB):
The Disturbance Observer is an additional component introduced to the control system. Its purpose is to estimate and compensate for the external disturbances and uncertainties affecting the system. The DOB observes the disturbance and provides a feedback signal that helps in minimizing its influence on the controlled variables.
Observer-Based Control:
Observer-Based Control is a control scheme that utilizes an observer (in this case, the Disturbance Observer) to estimate the states and parameters of the system. The observer estimates the unmeasured or uncertain variables, which are then used in the control law to regulate the system's behavior. This approach allows compensating for the unknown parameters and disturbances, leading to better control performance.
Adaptive Control:
Adaptive Control is a control method that adjusts the controller parameters online based on the estimated system's parameters or identified variations. In this context, it is used to adapt to parameter variations in the multi-motor system. As the motors may have slightly different characteristics or change over time, the adaptive control helps in maintaining accurate regulation for each motor.
Multi-Motor Speed Regulation:
The control strategy is designed for the simultaneous speed regulation of multiple motors. Each motor is treated as a separate control entity with its disturbance observer and adaptive sliding mode controller. This approach allows the system to control different motors independently, considering their specific dynamics and disturbances.
The combination of sliding mode control, disturbance observer, observer-based control, and adaptive control enables the system to achieve robust and precise speed regulation for multiple motors, even when facing parameter variations and external disturbances. The control approach continuously estimates and compensates for disturbances and adapts to variations in motor parameters, providing reliable and efficient operation in industrial applications.