Dynamic modelling and state observer-based robust control for a mechatronic system with temperature effect

Abstract

The temperature effect is considered in dynamic modelling of a simple mechatronic system, which includes both mechanical and electrical parts. The total input energy is equal to heat dissipation, heat store, electromagnetic, and mechanical output energies. The complete model of a simple mechatronic system consists of the torque balance, voltage balance and heat balance equations. The responses of angular velocity, electric current and temperature are compared by using different values of specific heat capacities and convective coefficients on the responses. Then, a supplemental state observer-based sliding mode control (SSOBSMC) consisted of the supplemental state observer (SSOB) and sliding mode control (SMC) is successfully proposed to perform the robust tracking control perform for a simple mechatronic system with the unavailable temperature. The simulation results show that the proposed controller demonstrates robust states estimation and tracking control performances, simultaneously. The contributions of this paper are: (1) the temperature effect is considered in the dynamic modelling by using the fact that the dissipation energy of the mechanical damper and electrical resistance convert to heat dissipation and heat store energies in a simple mechatronic system; (2) the complete dynamic model of a simple mechatronic system is successfully formulated, and consists of the torque balance, voltage balance and heat balance equations; (3) a SSOBSMC is successfully proposed to perform well state estimation ability and robust tracking control performance, simultaneously.