Abstract
Electric direct-current (DC) drives based on DC motor are extremely important in the manufacturing process, so it must be crucial to increase their performance when they are working on load disturbances or the DC motor’s parameters change. Usually, several load torque suddenly appears when electric drives are operating in a speed closed-loop, so robust controllers are required to keep the speed high-performance. One of the most well-known robust strategies is the sliding mode controller (SMC), which works under discontinue operation. This controller can handle disturbances and variations in the plant’s parameters, so the controller has robust performance. Nevertheless, it has some disadvantages (chattering). Therefore, this paper proposed a fuzzy logic controller (FLC) that includes an artificial organic network for adjusting the command signal of the SMC. The proposed controller gives a smooth signal that decrements the chattering in the SMC. The stability condition that is based on Lyapunov of the DC motor is driven is evaluated; besides, the stability margins are calculated. The proposed controller is designed using co-simulation and a real testbed since co-simulation is an extremely useful tool in academia and industry allows to move from co-simulation to real implementation in short period of time. Moreover, there are several universities and industries that adopt co-simulation as the main step to design prototypes. Thus, engineering students and designers are able to achieve excellent results when they design rapid and functional prototypes. For instance, co-simulation based on Multisim leads to design directly printed circuit boards so engineering students or designers could swiftly get an experimental DC drive. The experimental results using this platform show excellent DC-drive performance when the load torque disturbances are suddenly applied to the system. As a result, the proposed controller based on fuzzy artificial organic and SMC allows for adjusting the command signal that improves the dynamic response in DC drives. The experimental response using the sliding-mode controller with fuzzy artificial organic networks is compared against an auto-tuning, Proportional-Integral-Derivative (PID), which is a conventional controller. The PID controller is the most implemented controller in several industries, so this proposal can contribute to improving manufacturing applications, such as micro-computer numerical control (CNC) machines. Moreover, the proposed robust controller achieves a superior-speed response under the whole tested scenarios. Finally, the presented design methodology based on co-simulation could be used by universities and industry for validating and implementing advanced control systems in DC drives.
Highlights
When electric machines were used in speed closed-loop in factories, direct-current (DC) motors were the first ones to be implemented, because they have a decoupled electromagnetic torque relationship
Those brushed and brushless DC motors are widely used in manufacturing computer numerical control (CNC) machines such as the reconfigurable micro-CNC-machine that allows to validate advanced control systems shown in [1,2] that includes DC drives. This type of micro- CNC machines help academia and industries to validate complex control algorithms under several reconfigurations of the micro-CNC machine so engineering students and designers can test and validate advanced control systems in real time applications. This platform allows to deploy advanced proposed controllers into complex manufacturing applications so innovation in education is promoted in universities when they design this type of micro-CNC machines integrating advanced controllers such as the proposed controller in this paper since engineering students are able to learn how to move from co-simulation to implementation is a friendly manner
The load torque is applied while using another DC motor coupled to the motor shaft that moves in the appositive direction so the load torque can be changed using a PWM
Summary
When electric machines were used in speed closed-loop in factories, direct-current (DC) motors were the first ones to be implemented, because they have a decoupled electromagnetic torque relationship This decupled relationship allows for us to handle the main magnetic flux (stator) and the rotor’s current, so controlling the speed of the motor by the armatures’ current is attractive. Those brushed and brushless DC motors are widely used in manufacturing CNC machines such as the reconfigurable micro-CNC-machine that allows to validate advanced control systems shown in [1,2] that includes DC drives This type of micro- CNC machines help academia and industries to validate complex control algorithms under several reconfigurations of the micro-CNC machine so engineering students and designers can test and validate advanced control systems in real time applications. This paper provides an entire design methodology for designing advanced electric robust controllers for DC drives using software and digital systems that are familiar to universities and industries so this proposed design methodology can be followed by engineering students or industrial designers
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