Tuning-free controller for magnetic-geared motors based on disturbance observer

Abstract

This paper proposes a disturbance-observer-based tuning-free controller (TFC) for magnetic-geared motors (MGM). To address the difficulty of conventional active damping controllers (ADC) in suppressing the flexible elements of magnetic gears and load inertia disturbances in MGM applications, a disturbance observer is introduced to enhance robustness. A detailed parameter design procedure is provided in the discrete domain, and theoretical analysis compares the suppression performance of the conventional ADC and the proposed TFC. Finally, experiments on the MGM prototype platform demonstrate that the proposed TFC exhibits stronger robustness against load inertia disturbances.