Abstract
This paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires an exhaustive modelling of the physical phenomena that cause the electromagnetic torque oscillations. In particular, the Cogging and Stribeck effects are taken into account, whose mathematical model is incorporated in the whole system of dynamic equations representing the complex mechatronic system, formed by the mechanics of the robot links and the dynamics of the actuators. Both the modelling procedure of the robot, directly incorporating the dynamics of the actuators and the electrical drive, consisting of the modulation system and inverter, and the systematic procedure necessary to obtain the equations of the components of the control vector are described in detail. Using the Processor-In-the-Loop (PIL) paradigm for a Cortex-A53 based embedded system, the beneficial effect of the proposed advanced control strategy is validated in terms of end-effector position control, in which we compare classic control system with the proposed algorithm, in order to highlight the better performance in precision and in reducing oscillations.
Highlights
IntroductionPublisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations
We propose a non-linear control technique that absorbs the negative effects of the torque ripple delivered by permanent magnet synchronous motor (PMSM), which affect the accuracy of rotor axis position control
For the validation of the control system described above, the results obtained through a Processor-In-the-Loop (PIL) simulation are reported, in which the control algorithm is implemented on an Embedded platform, a Raspberry Pi 3 model B (RPI3B), with a Broadcom BCM2837 chipset integrating Cortex-A53 @ 1.2 GHz processor, while the model of the drive, synchronous motors and robot mechanics is implemented in the Simulink environment (MATLAB 2018b version)
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. We propose a non-linear control technique that absorbs the negative effects of the torque ripple delivered by permanent magnet synchronous motor (PMSM), which affect the accuracy of rotor axis position control. The contribution of this work is to apply the non-linear control strategy, capable of significantly reducing the effects of electromagnetic torque disturbances, in the context of a mechatronic system of relatively high complexity, such as a robot manipulator with two degrees of freedom. The objective is to show operationally how to develop and validate efficient control algorithms able to compensate for intrinsic non-linearity effects of the controlled physical process, in the case of strong industrial interest of mechatronic systems of electromechanical nature, through accurate modelling and/or mathematical formalisation.
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