Abstract
This paper presents the design approach of Generalized Dynamic Inversion (GDI) for angular position control of SRV02 rotary servo base system. In GDI, linear first order constraint differential equations are formulated based on the deviation function of angular position and its rate, and its inverse is calculated using Moore-Penrose Generalized Inverse to realize the control law. The singularity problem related to generalized inversion is solved by the inclusion of dynamic scaling factor that will guarantee the boundedness of the elements of the inverted matrix and stable tracking performance. Numerical simulations and real-time experiment are performed to evaluate the tracking performance and robustness capabilities of the proposed control law considering nominal and perturbed model dynamics. For comparative analysis, the results of GDI is compared with conventional PID control. Simulation and experimental results demonstrate better angular position tracking for the square-wave and sinusoidal waveforms, which reveals the superiority, and agility of GDI control over conventional PID.
Highlights
Servomotor based on rotary cart system is essential for the modern-day industries and a powerful tool for real world applications
Inaccurate position tracking will lead to experimental failure, such as bad tracking properties of actuators will affect the stability of entire missile control system
The autopilot for angular position control of SRV02 rotary servo base unit is based on Generalized Dynamic Inversion (GDI)
Summary
Servomotor based on rotary cart system is essential for the modern-day industries and a powerful tool for real world applications. Depending upon the type of production plant, position and speed control of servo system can be of major importance. They are extensively used in electrical vehicles, robotic manipulators, automated factories, aircrafts, etc. The high precision required in position tracking is very crucial for evaluating the performance of servo motor system. It is imperative to develop the control algorithms to improve the tracking performance and accuracy of servo motor systems. The inherent attributes of servo motors such as parametric uncertainties, load inertial torque, nonlinear friction, load variations and torque disturbances impose more complications and challenges to design the precise tracking control system [3]
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