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Control moment gyro (CMG) that driven by traveling wave traveling wave hollow ultrasonic motor have the closed loop stability control and multi objective angle fixed angle locking precision in large speed range demand. In this paper, a mathematical model of the control moment gyro system driven by traveling wave type hollow ultrasonic motor is established. Then taking into account the nonlinear characteristics...
The experimental method of a robust adaptive trajectory tracking control of nonholonomic wheeled mobile robots using only web camera is proposed. This paper proposes an experimental system for using video camera images in MATLAB / Simulink(R)using donated software. We make a simple contrivance, the coordinates information which can be given by video camera image can take into MATLAB/Simulink, and...
Many challenges of modeling and control exist in the tail-sitter aircraft, including parameter uncertainty, highly coupling, nonlinearity, and external disturbance. In this paper, the model of a tail-sitter aircraft is simplified at the nominal condition to obtain the nominal linear invariant model. Then a robust controller based on the H∞ control theory is proposed to deal with the attitude tracking...
Skid-steered mobile robot has been widely used in different fields. In most of existing controllers for skid-steered mobile robots, the wheel velocities are controlled independently to track the desired velocities from the remote manipulation or high level computer. However, this kind of control method may lead to chattering phenomenon of skid steer mobile robots in practice. In this paper, the cause...
A parameterized design of speed servo controller for brushless DC motors is presented based on a robust composite nonlinear control framework. The servo controller consists of a linear control part for achieving fast response, a nonlinear feedback part for suppressing the overshoot, and a disturbance compensation mechanism for erasing the steady-state error. A reduced-order extended state observer...
The use of electromechatronic positioning modules for activating industrial robot manipulator links is characterized by the fact that mechanics parameters change within a wide range at a normal operation. A well-known tendency at solution of this problem is the use of additional channels of identification and adaptation. Existing variants of regulators apply neural networks, fuzzy logic and genetic...
Efficient utilization of the power supply in Electrical Drive Systems (EDS) is a subject of interest and vast research. Nonetheless, the design of EDS aims to be robust to rough operating conditions and provide high performance. The Externally Excited Synchronous Machine (EESM) has become a cheaper alternative solution over the permanent magnet synchronous machine especially in Hybrid and Electric...
Driving torque variation which introduces external yaw moment greatly impacts vehicle motion particularly for distributed powertrain vehicles such as in-wheel motor electric vehicles. This paper proposes a weighted gain-scheduling H∞ controller to compensate for torque variation and track desired vehicle motions. The weighted H∞ performance is adopted to attenuate the effect of torque variation. A...
The problem of how to control a quadrotor is investigated. A nonlinear model of the quadrotor is derived with Newton-Euler formulation and then simplified. With the simplified model, Linear Active Disturbance Rejection Control (LADRC) is used to control the altitude and attitude of the quadrotor. Simulations show LADRC can deal with the model uncertainty and coupling, guarantee stability, and have...
The surface mounting equipment (SME) is critical and complex in electronic assembly process. The key issue of SME is to realize accurate positioning and high-speed under the influence of parametric uncertainties (e.g., unknown gravitational load) and uncertain nonlinearities (e.g., friction). For achieving this aim, the adaptive robust control (ARC) based on dynamic LuGre model algorithm is proposed...
In this paper, we present a robust control of a variable-speed wind turbine with fixed pitch angle and strategy MPPT control associated on a Permanent Magnet Synchronous Generator (PMSG). This paper first proposes the PITCH angle fixed and control strategy used Maximum Power Point Tracking (MPPT) below the rated speed, which corresponds to low and high wind speed, and the maximum energy can be captured...
In synchronous reluctance motors (SynRMs), it is difficult to achieve the wide speed drive because the conventional flux-weakening control is affected greatly by the magnetic saturation. In this paper, a new flux-weakening control method using the value of the voltage saturation for SynRMs has been proposed.
In this paper, a novel flux-weakening control method for robust position sensorless control to magnetic saturation of interior permanent synchronous motors has been proposed. The proposed method can achieve the fast torque response and construct the robust control system to magnetic saturation.
Stabilization of gimbal platform housing the payload in Micro Air Vehicle (MAV) applications is crucial in operational situations. The gimbal positioning is achieved through a DC servo motor, which needs to be controlled for the desired performance under uncertainty and disturbance. In this work a novel robust control strategy employing the technique of Uncertainty and Disturbance Estimator (UDE)...
This paper presents a rotor position sensorless control for the permanent magnet synchronous motor (PMSM), based on an active disturbance rejection control technique and an integral reconstructor for the rotor position estimation. The control law uses a generalized proportional integral observer (GPIO) for estimating and compensating the unknown uncertainties which the PMSM system is subject. The...
In this paper, according to the characteristic of permanent magnet synchronous machine drive systems, a 2nd-order speed output equation has been derived while the PI regulator for current-loop can be treated as a part of its mathematical model. Thus, the 2nd-order active disturbance rejection controller has been designed with discrete algorithms. Simulation results show that the proposed controller...
This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
This paper presents a passivity based torque control structure for a high power Permanent Magnet Synchronous Motor (PMSM) used in Electric Vehicles (EV). A comparative study is done with a parallel PI algorithm in terms of response time, settling time, stationary error and required input electrical energy to reach the desired operating point. Moreover, parameters variations are simulated in order...
In this paper, a comprehensive behavioral efficiency model of an electric motor drive system is proposed. The proposed model includes all possible motor drive losses without ignoring, approximating or assuming any of the inverter or machine losses, which are usually done for other efficiency models, hence the model is comprehensive. The input (DC electrical) and the output (mechanical) power of the...
A robust cascade control structure using the H∞ linear parameter varying current controller and the H∞ speed controller is designed for the permanent magnet synchronous motor. The H∞ LPV current controller provides fast current tracking using measured rotor speed as a scheduling variable. High load torque disturbance attenuation is achieved using the fixed H∞ speed controller.
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