Design of a novel discrete dual-switching tracking differentiator

Abstract

Signal filtering and differential acquisition are classic yet challenging issues in control engineering. The discrete-time optimal control (DTOC) based on classic tracking differentiator (TD) can effectively extract differentiation signals and filter signals, while eliminating the chattering problem that arises during the discretization of the continuous solution. However, under external disturbance, the convergence mode may change, leading to overshoot and noise amplification. In this paper, a dual-switching strategy is proposed, which can alternate between the base double-integral system and its dual system according to the quadrant of the system’s state. And a novel linearized control law is also introduced, deriving a novel dual-switch tracking differentiator. Further analysis of system convergence and time optimality is provided. Simulation results show that the application of this dual-switching strategy notably reduces overshoot in both tracking and differential signals while enhancing noise filtering performance. Moreover, experiments conducted on a permanent magnet synchronous motor (PMSM) platform, where the proposed TD acts as a filter in the speed feedback loop, demonstrate that the standard deviation between the reference speed and the target speed (at a constant speed of 378 r/min) decreased from 5.63 r/min to 4.93 r/min, compared to the moving average algorithm.

Keywords

tracking differentiator / discrete time optimal control / dual-switching strategy / speed filtering

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RIGHTS & PERMISSIONS

Central South University