A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms

W. Fermin Guerrero-Sánchez, Jésus Linares-Flores, Arturo Hernández-Méndez, Victor R. Gonzalez-Diaz, Gerardo Mino Aguilar, German A. Munoz-Hernandez and J. Fermi Guerrero-Castellanos
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W. Fermin Guerrero-Sánchez: Facultad de Ciencias Físico-Matemáticas, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico
Jésus Linares-Flores: Instituto de Electrónica y Mecatrónica, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca 69000, Mexico
Arturo Hernández-Méndez: Instituto de Electrónica y Mecatrónica, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca 69000, Mexico
Victor R. Gonzalez-Diaz: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico
Gerardo Mino Aguilar: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico
German A. Munoz-Hernandez: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico
J. Fermi Guerrero-Castellanos: Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, Mexico

Energies, 2022, vol. 15, issue 14, 1-20

Abstract: This paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approach is that the actuation provided by the motor needs to handle external disturbances to achieve the velocity tracking task and handle the interaction between both motors cooperatively to share the load and the disturbance rejection. The control’s basis involves differential flatness and an active disturbance rejection control (ADRC) framework augmented using ideas from the graph theory analysis and multi-agent networks. Experimental results verify the theoretical developments and show the effectiveness of the proposed control strategy despite unexpectedly changing load disturbance and parameters uncertainties. The proposed algorithm is suitable for embedded use due to its simplicity. It can be applied to a broad spectrum of mechatronic systems where dual-motor drive arrangements are necessary.

Keywords: speed synchronization; cooperative control; load-sharing; input-to-state-stability (ISS); active disturbance rejection control (ADRC); extended state observers (ESOs) (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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