Decentralized ADR angular speed control for load sharing in servomechanisms

Abstract

This note deals with the angular speed synchronization of two brushed DC motors coupled to a mechanism in order to drive collaboratively a common stiff shaft. The proposed control schema uses a decentralized active disturbance rejection (ADR) speed-tracking controller, which is based on the differential flatness property and on the design of two linear extended state observers. With the proposed collaborative control the total torque load shared by the motors as well as the couple load imposed by each motor is actively estimated and rejected in order to accomplish the control objective. The decentralized active disturbance rejection tracking controller algorithm is implemented in Real-Time using the TMS320F28335 DSP board. The results show an excellent performance in the transient and steady state for the angular speed tracking, even when the load in the common stiff shaft changes suddenly.