An Observer-based Switching Controller for Servo Turntable based on Switched model

The switching control problem of servo turntable is investigated in this paper. A feedback control strategy is presented based on the switched model of the servo motor to enhance the tracking performance. First, the switched model of the servo turntable is established, which has higher model accuracy than the traditional transfer function of the servo turntable. Second, the subsystem controllers of the switched model are designed using the feedback control strategy based on state observer. Third, the smooth switching conditions of the switched model and controller are given and proved. Finally, an application in the servo turntable is done to validate the effectiveness of the proposed control strategy.

I. Introduction

The servo motor is widely used in robotics [1], aerospace [2], radar [3] and many other fields. It has important impact of the control effect. The dynamic performance of the servo motor is almost typical linear in some working conditions. However, due to the influence of temperature drift, magnetic saturation degree changes and nonlinear disturbance, the parameter uncertainty [4] exists in the servo system. The parameter uncertainty makes the system characteristics change with the speed.