Abstract
This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter. The high level control is related to the DC motor and the low level control is dedicated to the DC/DC Buck converter; both controls are designed via differential flatness. The high level control provides a desired voltage profile for the DC motor to achieve the tracking of a desired angular velocity trajectory. Then, a low level control is designed to ensure that the output voltage of the DC/DC Buck converter tracks the voltage profile imposed by the high level control. In order to experimentally verify the hierarchical controller performance, a DS1104 electronic board from dSPACE and Matlab-Simulink are used. The switched implementation of the hierarchical average controller is accomplished by means of pulse width modulation. Experimental results of the hierarchical controller for the velocity trajectory tracking task show good performance and robustness against the uncertainties associated with different system parameters.
Highlights
DC machines are extensively used in many industrial applications, such as servo control and traction tasks, due to their effectiveness, robustness, and the traditional relative ease in the devising of appropriate feedback control schemes [1]
This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter
Motivated by the hierarchical control approach used in mobile robotics [17], where the equation that governs the high level control imposes the desired profile to be followed by a low level control through an inner control loop (e.g., [18,19,20]), in this paper, as a continuation of [12], the experimental validation of a hierarchical controller for the angular velocity trajectory tracking task of a DC/DC Buck converter-DC motor system is presented
Summary
DC machines are extensively used in many industrial applications, such as servo control and traction tasks, due to their effectiveness, robustness, and the traditional relative ease in the devising of appropriate feedback control schemes [1]. This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter. Experimental results of the hierarchical controller for the velocity trajectory tracking task show good performance and robustness against the uncertainties associated with different system parameters.
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