Adaptivno upravljanje unazad bazirano na tehnici aproksimacije funkcije kod elektromehaničkog sistema sa nepoznatim ulaznim koeficijentom

Hayder Al-Shuka

doi:10.5937/fme2101113a

Abstract

This paper is focused on orthogonal function approximation technique FAT-based adaptive backstepping control of a geared DC motor coupled with a rotational mechanical component. It is assumed that all parameters of the actuator are unknown including the torque-current constant (i.e., unknown input coefficient) and hence a control system with three motor control modes is proposed: 1) motor torque control mode, 2) motor current control mode, and 3) motor voltage control mode. The proposed control algorithm is a powerful tool to control a dynamic system with an unknown input coefficient. Each uncertain parameter/term is represented by a linear combination of weighting and orthogonal basis function vectors. Chebyshev polynomial is used as a strong approximator for estimation of uncertainty. The designed control law includes three terms: a feedforward term, a feedback term and a robust term for compensation of modeling error. Lyapunov stability is used to prove the validity of the proposed controller and to derive the update laws for the weighting vectors of orthogonal Chebyshev approximators. A case study of a geared DC motor in connection with a rotating output load is simulated to prove the effectiveness of the proposed controller structure.

Highlights

An electromechanical system consists of geared motors coupled with mechanical components for actuation purposes [1]
To prove the effectiveness of the proposed controller structure, let us consider an electromechanical system consisting of a DC motor-gear transmission system actuating a rotating output load, see Figure 1
It is assumed that torque-current constant km is known and ι = ιd, only the motor torque control MTC is required for the regulation purpose

Summary

Introduction

An electromechanical system consists of geared motors coupled with mechanical components for actuation purposes [1]. They are useful for actuation of different mechanisms/machines such as robotic manipulators, CNC tables, etc. Electric motors nowadays witness rapid advancements in design and performance. A gear transmission system always exists between the motor and the coupled mechanical parts to increase the load torque and reduce the load velocity. In modeling of an electromechanical system, uncertain parameters of motor /mechanical parts and unmodeled dynamics of friction may exist that should be resolved carefully in controller design. The core of this paper is encircled around control of DC motor with a gear transmission

Methods

Results

Conclusion