234 research outputs found
Nonsingular terminal sliding mode control for the speed regulation of permanent magnet synchronous motor with parameter uncertainties
The drive performance of permanent magnet synchronous motor (PMSM) can be deteriorated due to various disturbances. In this paper, the problem of speed control for a PMSM system with parameter uncertainties is investigated. A new control algorithm based on nonsingular terminal sliding mode control (NTSMC) is proposed, where the controller is developed for speed regulation. Compared with conventional strategies, this new controller provides improved performance for speed regulation of PMSM when subject to parameter uncertainties, in that it achieves fast dynamic response and strong robustness. Simulation studies are conducted to verify the effectiveness of this proposed method
Control of the interaction of a gantry robot end effector with the environment by the adaptive behaviour of its joint drive actuators
The thesis examines a way in which the performance of the robot electric actuators can be precisely and accurately force controlled where there is a need for maintaining a stable specified contact force with an external environment. It describes the advantages of the proposed research, which eliminates the need for any external sensors and solely depends on the precise torque control of electric motors. The aim of the research is thus the development of a software based control system and then a proposal for possible inclusion of this control philosophy in existing range of automated manufacturing techniques.The primary aim of the research is to introduce force controlled behaviour in the electric actuators when the robot interacts with the environment, by measuring and controlling the contact forces between them. A software control system is developed and implemented on a robot gantry manipulator to follow two dimensional contours without the explicit geometrical knowledge of those contours. The torque signatures from the electric actuators are monitored and maintained within a desired force band. The secondary aim is the optimal design of the software controller structure. Experiments are performed and the mathematical model is validated against conventional Proportional Integral Derivative (PID) control. Fuzzy control is introduced in the software architecture to incorporate a sophisticated control. Investigation is carried out with the combination of PID and Fuzzy logic which depend on the geometrical complexity of the external environment to achieve the expected results
A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds
High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of the friction uncertainty. In contrast to most of the reported works considering the servos operating at high speeds, this paper focuses on low speeds in which the friction stemmed deteriorations become more obvious. In this paper firstly, a servo model involving the Stribeck friction dynamics is formulated, and the unknown friction parameters are identified by a genetic algorithm from the offline data. Then, a feedforward controller is designed to inject the friction information into the loop and eliminate it before causing performance degradations. Since the friction is a kind of disturbance and leads to uncertainties having time-varying characters, an Adaptive Proportional Derivative (APD) type Iterative Learning Controller (ILC) named as the APD-ILC is designed to mitigate the friction effects. Finally, the proposed control approach is simulated in MATLAB/Simulink environment and it is compared with the conventional Proportional Integral Derivative (PID) controller, Proportional ILC (P-ILC), and Proportional Derivative ILC (PD-ILC) algorithms. The results confirm that the proposed APD-ILC significantly lessens the effects of the friction and thus noticeably improves the control performance in the low speeds of the PMSM
Space, the new frontier
Space program - high thrust boosters with greater payload capabilities, superior guidance and control, and astronaut trainin
Adaptive Fractional-Order Sliding Mode Controller with Neural Network Compensator for an Ultrasonic Motor
Ultrasonic motors (USMs) are commonly used in aerospace, robotics, and
medical devices, where fast and precise motion is needed. Remarkably, sliding
mode controller (SMC) is an effective controller to achieve precision motion
control of the USMs. To improve the tracking accuracy and lower the chattering
in the SMC, the fractional-order calculus is introduced in the design of an
adaptive SMC in this paper, namely, adaptive fractional-order SMC (AFOSMC), in
which the bound of the uncertainty existing in the USMs is estimated by a
designed adaptive law. Additionally, a short memory principle is employed to
overcome the difficulty of implementing the fractional-order calculus on a
practical system in real-time. Here, the short memory principle may increase
the tracking errors because some information is lost during its operation.
Thus, a compensator according to the framework of Bellman's optimal control
theory is proposed so that the residual errors caused by the short memory
principle can be attenuated. Lastly, experiments on a USM are conducted, which
comparative results verify the performance of the designed controller.Comment: 9 pages, 9 figure
A review of dynamics design methods for high-speed and high-precision CNC machine tool feed systems
With the development of CNC machine tools toward high speed and high
precision, the traditional static design methods can hardly meet the demand.
Hence, in this paper, the dynamics matching design methods of existing CNC
machine tool feed systems were investigated and analyzed. Further, sub-system
coupling mechanisms and optimization design studies were carried out for each
sub-system. First, the required kinematic indexes must be achieved when
designing the feed system dynamics of high-speed, high-precision CNC machine
tools. Second, the CNC machine tool feed systems generally have four
sub-systems: motion process, control system, motor, and mechanical structure.
The coupling effect between the sub-systems should also be considered in the
design. Based on the dynamics design, each sub-system should be optimized to
maximize the system dynamic performance with minimum resource allocation.
Finally, based on the review, future research directions within the field were
detected
An improved marine predators algorithm-tuned fractional-order PID controller for automatic voltage regulator system
One of the most popular controllers for the automatic voltage regulator (AVR) in maintaining the voltage level of a synchronous generator is the fractional-order proportional–integral-derivative (FOPID) controller. Unfortunately, tuning the FOPID controller is challenging since there are five gains compared to the three gains of a conventional proportional–integral–derivative (PID) controller. Therefore, this research work presents a variant of the marine predators algorithm (MPA) for tuning the FOPID controller of the AVR system. Here, two modifications are applied to the existing MPA: the hybridization between MPA and the safe experimentation dynamics algorithm (SEDA) in the updating mechanism to solve the local optima issue, and the introduction of a tunable step size adaptive coefficient (CF) to improve the searching capability. The effectiveness of the proposed method in tuning the FOPID controller of the AVR system was assessed in terms of the convergence curve of the objective function, the statistical analysis of the objective function, Wilcoxon’s rank test, the step response analysis, stability analyses, and robustness analyses where the AVR system was subjected to noise, disturbance, and parameter uncertainties. We have shown that our proposed controller has improved the AVR system’s transient response and also produced about two times better results for objective function compared with other recent metaheuristic optimization-tuned FOPID controllers
Robust fractional-order fast terminal sliding mode control with fixed-time reaching law for high-performance nanopositioning
Open Access via the Wiley Agreement ACKNOWLEDGEMENTS This work is supported by the China Scholarship Council under Grant No. 201908410107 and by the National Natural Science Foundation of China under Grant No. 51505133. The authors also thank the anonymous reviewers for their insightful and constructive comments.Peer reviewedPublisher PD
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