| DC MOTOR CURRENT CONTROL ALGORITHM USING
PROPORTIONAL-INTEGRAL LQT WITH DISTURBANCE OBSERVER |
| Ung Jon, Jihwan Kim, Hyeongcheol Lee |
| Hanyang University |
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| ABSTRACT |
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This paper proposes a DC motor current control algorithm using a proportional-integral linear quadratic
tracking (LQT) controller with a disturbance observer for the electronic stability control (ESC) brake system. Previously
researched algorithms related to current control using disturbance rejection are robust control, adaptive control, LQT, or
proportional-integral disturbance observer (PI-DOB); each of them has both advantages and disadvantages. The proposed
algorithm uses a disturbance observer in order to improve disturbance rejection performance while avoiding the drawbacks of
high gain property. Additionally, the proposed algorithm adds integral control in order to improve performance in the low
frequency bands. In order to assess the performance of the proposed algorithm, simulations and experiments are performed in
the time and frequency domains to compare the proposed algorithm with different algorithms which are actually implemented
into the ESC. The proposed algorithm shows good characteristics near the cut-off frequency, which can be confirmed clearly
by the time domain results. |
| Key Words:
Linear quadratic tracking control, DC motor, Electronic stability control, Disturbance rejection,
Uncertainties, Integral action |
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Corresponding Author.
Hyeongcheol Lee , Email. 
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