Position Control Of Motor Research Articles

Design of Optimal Position Controller for Three-Phase Brushless DC Motor Applying Adaptive Sliding Mode Control

Design of Optimal Position Controller for Three-Phase Brushless DC Motor Applying Adaptive Sliding Mode Control

非共振式压电直线电机精密驱动及定位控制

非共振式压电直线电机精密驱动及定位控制

Position Controller for PMSM Based on Finite Control Set Model Predictive Control

The paper presents the position control of a permanent magnet synchronous motor by using the finite control set model predictive control. The position, speed and acceleration references are generated by a ramp generator. A new cost function, including feed-forward and load torque compensations, is introduced. In order to save the computational power, a combination of a predictive speed control with proportional position controller is explored as well. Presented methods are compared to the conventional field oriented control structure by a simulation. DOI: http://dx.doi.org/10.5755/j01.eie.22.6.17217

Simulation and Implementation of Multiple Unipolar Stepper Motor Position Control in the Three Stepping Modes using Microcontroller

<p>This paper presents a multiple unipolar stepper motor position control system using microcontroller (MCU) in anticlockwise and clockwise directions. The open loop controller of the implemented position control system for the three stepping modes of operation has been designed and developed with three stepper motors and without position feedback. The MCU is programmed using flowcode software package to generate the pulse signals with the desired stepping sequences and step angles. These pulse signals are necessary to drive the three stepper motors in the three drive modes (wave-step, full-step, and Half-step) according to the control algorithm. Three devices of 8 Channel Darlington Driver (chip ULN2803) are used to drive the three stepper motors and provide them with the sufficient current. The position control system has been simulated using proteus design suite software package and the controller has been implemented using low cost PIC16F877A (MCU). A reliable and accurate position control of the stepper motor is achieved by this position control system. </p>

Performance Analysis of Profibus DP and Profinet in a Motion Control Application

This work proposes a performance analysis of industrial communication networks applied in a widely used motion control application of an electric AC motor. It compares Profinet and Profibus DP technologies. Performance is evaluated from technical specifications of both protocols and practical experiments for data collection and analysis of the following indicators: cycle time and jitter. As these protocols are used in the loop control, another indicator is used from the control engineer point of view, the settling time of motor position control. Conclusions show that Profibus DPV0 is faster; however, Profinet version IRT has higher determinism. Both achieved settling time that could accomplish the application.

Robust Finite‐Time H∞ Control of a Class of Disturbed Systems using Lmi‐Based Approach

AbstractIn this paper, the definition of robust finite‐time H∞ control is presented for a class of disturbed systems. Time‐varying norm‐bounded exogenous disturbance is considered in the system. A state feedback controller is designed, via a Linear Matrix Inequalities (LMIs) approach, which ensures that the closed‐loop system is finite‐time bounded (FTB) and reduces the effect of the disturbance input on the controlled output to a prescribed level. The main result, derived by Lyapunov functions, is a sufficient condition for FTB of disturbed systems and the sufficient condition can be reduced to a feasibility problem involving LMIs. Then a DC motor position control problem is simulated as a demonstration for this study. Simulation results are presented to show the effectiveness of the proposed method as a promising approach for controlling similar disturbed systems.

Fuzzy supervised online coactive neuro‐fuzzy inference system‐based rotor position control of brushless DC motor

In this study, fuzzy supervised online coactive neuro-fuzzy inference system (CANFIS)-based rotor position controller is presented for brushless DC (BLDC) motor. An online learning algorithm is employed for updating premises and consequent parameters of the CANFIS controller. The rotor position control of BLDC motor is simulated using MATLAB/Simulink Toolbox. The dynamic response of the BLDC motor with proposed controller is measured for standard sinusoidal reference input. The effectiveness of the proposed controller performance is compared with fuzzy proportional-integral derivative controller, adaptive neuro-fuzzy inference system controller and supervised recurrent fuzzy neural network controller. The proposed controller is able to solve the problem of non-linearities and uncertainty due to reference input changes of BLDC motor and guarantees fast and accurate dynamic response to a remarkable steady-state performance. Also, experimental hardware results are presented to demonstrate the validity and effectiveness of the proposed control scheme using field programmable gate array chip. Experimental results show that the proposed control scheme can achieve a more favourable tracking performance without the chattering phenomena in the control effort.

Force ripple and jerk minimisation in double sided linear switched reluctance motor used in elevator application

The linear switched reluctance motors (LSRMs) have many benefits such as simple structure, low cost, comparatively high force-to-mass ratio, and no need for mechanical rotary to linear motion converters. However, application of these motors is limited because of their force ripple. In this study, the LSRM is used in vertical motion and a new control strategy is proposed for reducing the force ripple. This method is based on instantaneous control of motor position, speed, phase current, and force. In order to realise the good motion quality of elevator, this study applies a speed profile based on minimum jerk model. Also, a new force distribution function is proposed that can properly distribute the total force among the phases. Using this function, phase currents can properly track the corresponding command currents and then, decrease undesirable ripples of output force considerably. The control system was implemented on a double sided four phase LSRM. Its performance is demonstrated by means of modelling and experimental results in elevator application.

Simplified torque modulated microstepping for position control of permanent magnet stepper motors

In previous methods designed based on field oriented (and/or weakening) control, high performance of current control is required for position control of permanent magnet (PM) stepper motors. This paper proposes a simplified torque modulated microstepping (STMMS) based on singular perturbation theory for position control of the PM stepper motors. Since a two phase frame PM stepper motor model involves slow and fast dynamics, singular perturbation theory is applied to improve the transient response and to reduce the ripple. The torque modulated microstepping method is applied with a simplified current tracking control law obtained from singular perturbed system analysis. Using applied conditions and stability proofs, we find that the proposed control design procedure is simplified. This eliminates the high-bandwidth control efforts for the current tracking required in the previous methods. Furthermore, the STMMS does not use current feedback for the current tracking. It is shown that high performance in the current tracking does not necessarily entail high performance in the position tracking. The proposed method was validated by simulation and experimental results. It is observed that the STMMS not only improved transient response but also reduced ripple in position control over the previous method. Furthermore, the STMMS used the input voltages less than the previous method does.

Sliding mode control based on a modified linear control input

In this study, we explain and demonstrate a design method of sliding mode control based on a modified linear control input. In the proposed method, the optimal gain matrix is derived such that it does not depend on the plant parameters. We confirmed the robustness of the proposed method by applying input-side disturbances and plant parameter deviations to plants and the effectiveness of the proposed method by performing a DC motor position control experiment

SENSORLESS POSITION CONTROL OF DC MOTOR USING MODEL PREDICTIVE CONTROLLER

Sensors like rotary encoders are widely used in measuring the speed and position of DC motor in applications. Due to expensiveness, calibration complexities of these type of encoders, sensorless methods for measurements were used alternatively. This paper presents sensorless position control of a wheeled DC motor using system identified model. This approach overcome some conventional sensorless techniques that uses some approximations. The model is developed using black box identification scheme, based on the identified model, a model predictive controller was designed to track a desired horizontal position of the wheel. Practical experiment shows the concept gives a very good estimation of the position and speed and can be used in control application.

Experience mapping based prediction controller for the smooth trajectory tracking of DC motors

Experience mapping based prediction controller (EMPC) is a novel controller based on the human motor control mechanism. The application of EMPC for the precise position control of PMDC motors and the performance analysis using step responses is present in literature. However, the performance of the EMPC control concepts in trajectory tracking applications is not studied. This paper investigates the trajectory control of a PMDC motor using EMPC. The ability of EMPC to control the position along an arbitrarily selected trajectory and the limitations of the quasi-open-loop control structure of EMPC in trajectory tracking applications are studied. A modification to the control strategy which retains the quasi-open-loop control structure is suggested to improve the performance. Further, a novel method is developed within the existing framework of EMPC in this paper for the prediction of duty-cycle to achieve the required steady-state velocity output of the DC motor system and this is employed for smooth trajectory tracking. The proposed method is tested in simulation and the results are analyzed and compared with that of MRAC and LQG techniques. The robustness of the proposed technique to changes in system parameters is also studied. All the proposed techniques are also implemented on a practical laboratory setup and the results are provided. The proposed methods are used for plotting and drawing on a XY plotter and the results are presented and discussed.

Sliding‐mode position control of medium‐stroke voice coil motor based on system identification observer

This study presents the performance improvement in the position control of a medium-stroke voice coil motor (VCM) using a sliding-mode controller (SMC) with a system identification observer (SIO). The proposed VCM is developed with a full stroke of 24 mm, and its non-linear electro-magneto-mechanical characteristics are analysed by the three-dimensional finite element method. A least-squares-based SIO is introduced into the VCM control system prior to the position regulation of the SMC in order to achieve a shorter rise time of 29 ms and a smaller steady-state error of <±2 μm under a square-wave excitation of 20 mm amplitude and 0.5 Hz frequency. An experimental verification between the SMC and a traditional proportion–integral–differential controller is carried out. The results demonstrate improved dynamic and static tracking responses in the SMC under load-free, frequency-varying operations.

Motor position control algorithm for an automated manual transmission of the agricultural tractor

This paper presents a motor position control algorithm for an automated manual transmission (AMT) of the agricultural tractor, based on modified linear quadratic tracking (LQT). In this paper, the modified LQT is derived from the conventional LQT by applying the Luenberger observer in order to design an output feedback controller. A dynamic model of the actuator is derived to represent characteristics of the worm geared DC motor and the proposed control algorithm is applied and tuned with the model. The proposed position control algorithm of the worm geared motor using the modified LQT can improve disturbance rejection performance without changing the hardware configuration of the AMT. The simulation results show the validity of the proposed control algorithm.

A Review of Transient and Steady State Response of DC Motor Position Control

A Review of Transient and Steady State Response of DC Motor Position Control

Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots which is free from manipulator model. The proposed control law is simple but robust against uncertainties associated with manipulator dynamics. The novelty is the developing of voltage control strategy for the direct-drive robots driven by PMSMs. In addition, a state-space model is obtained for the robotic system including the direct-drive robot manipulator and the PMSMs. Then, the proposed approach is verified by stability analysis. A comparative study through simulations shows the superiority of the voltage control strategy to the torque control strategy.

The Model-free Adaptive Composite Control Method for Permanent Magnet Linear Motor

A composite control method based on the model-free adaptive control is applied to the position or speed control of the linear motor. The model-free adaptive controller (MFAC) broke through the classical PID controller design of linear framework, is a kind of new controller, it' structure is adaptive and a kind of integration of modeling and control method. The composite control method includes an adaptive feedforward compensator which is designed to eliminate or suppress the effects of inherent force ripple for a permanent magnet linear motor (PMLM). Simulation results show that compared with PID control, the proposed composite control algorithm is more effective for the strong coupling of nonlinear system and difficult to realize stable control. And the response performance of the system is realized.

Generalized predictive control robust for position control of induction motor using field-oriented control

This paper presents the study and implementation of a different field-oriented control strategy using a generalized predictive control (GPC) technique applied to the mechanic position loop aiming to obtain a system that acts in the fractional horsepower motor driver running at near zero frequency. The position and speed loops were identified to verify the system behavior and, from the model found design the GPC controller. Simulation and experimental results are shown and discussed to demonstrate the merit of the proposed approach and the performance and robustness of the algorithms have been evaluated.

FPGA implementation of linear model predictive controller for real-time position control of DC motor

Model predictive control (MPC) is a predictive class of control algorithm which has been widely adopted for slow dynamic, constrained, multi-variable process control problems. The applicability of MPC for real-time control is restricted due to the associated computational complexity of quadratic programming (QP) problem and the choice of appropriate computing platforms. MPC can be formulated as a standard QP problem and according to receding horizon control strategy, in order to get optimal control signal to apply to the system, in each discrete time step, a QP problem is to be solved online. In order to meet high sampling frequency demand of real-time control applications, in this paper, we propose a novel accelerated field programmable gate array (FPGA)-based customised architecture for active set method (ASM)-based QP solver to implement linear MPC. The approach is implemented successfully on Xilinx's Virtex-4 FPGA and demonstrated practically by applying MPC to Quansers QET DC servomotor position control plant. From experimentation; it is observed that, FPGA-based implementation occupies 35% of Virtex-4 area and achieves 500 µs sample time.

DTC-SVM-based position regulation of an induction motor: a comparison between different strategies

This work is aimed at looking into potential advantages of direct torque control (DTC) strategies for position regulation applications. Of particular interest is the capability exhibited by DTC strategies to develop the maximum torque at standstill. Within this background, the paper is devoted to the presentation of a comparison study between three DTC strategies dedicated to position control of an induction motor, such that: 1) the basic DTC strategy; 2) the DTC strategy with a look-up table including only active voltage vectors; 3) the DTC-SVM strategy with hysteresis controllers and imposed commutation frequency. Following simulation works, it has been found that the third strategy offers the lower torque ripples. Furthermore, it exhibits a high capability to reject the demagnetisation problem which penalises the stator flux regulation at low speeds in the Takahashi basic strategy. However, the DTC-SVM requires a control system with higher CPU frequencies in such a way its implementation scheme is more complex than the basic DTC strategy.