The Lyapunov-based controller with a passive nonlinear observer to improve position tracking performance of microstepping in permanent magnet stepper motors

Automatica ◽  
2012 ◽  
Vol 48 (12) ◽  
pp. 3064-3074 ◽  
Author(s):  
Wonhee Kim ◽  
Donghoon Shin ◽  
Chung Choo Chung
Keyword(s):  
Permanent Magnet ◽  
Nonlinear Observer ◽  
Tracking Performance ◽  
Position Tracking ◽  
Stepper Motors

scholarly journals Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors

2021 ◽  
Vol 11 (2) ◽  
pp. 587
Author(s):  
Sangmin Suh ◽  
Wonhee Kim
Keyword(s):  
Permanent Magnet ◽  
Tracking Error ◽  
Iterative Learning ◽  
Tracking Performance ◽  
Position Tracking ◽  
Nonlinear Controller ◽  
Integral Control ◽  
Stepper Motors ◽  
Current Error ◽  
A Current

In this paper, a current-error-based iterative learning controller (ILC) with a nonlinear controller is proposed to improve the position-tracking performance in permanent-magnet (PM) stepper motors. Our proposed method comprises a current-error-based ILC for mechanical dynamics and a nonlinear controller for current dynamics. A nonlinear controller using a variable structure is designed to obtain the field-oriented control. This nonlinear controller can cause the PM stepper motor become a single-input single-output linear system after finite time. The add-on-type ILC with proportional–integral control is designed to improve the position-tracking performance as the systems repeatedly perform the same operation. To increase the rate of error convergence, the current-error-based ILC is designed using the plant inversion method. The condition that the error converges to zero is mathematically derived. Thus, the proposed method can reduce the position-tracking error as the systems repeatedly perform the same operation. Furthermore, the proposed method can be easily plugged into the pre-designed controller. The performance of our proposed method was evaluated via simulations. In simulations, it is observed that the proposed method reduces the position-tracking error compared to the previous methods.

Nonlinear H2 control for position tracking of permanent magnet stepper motors

2013 ◽  
Author(s):  
Youngwoo Lee ◽  
Seung-Hi Lee ◽  
Wonhee Kim ◽  
Donghoon Shin ◽  
Chung Choo Chung
Keyword(s):  
Permanent Magnet ◽  
Position Tracking ◽  
Stepper Motors

scholarly journals Nonlinear Optimal Position Control with Observer for Position Tracking of Surfaced Mounded Permanent Magnet Synchronous Motors

2021 ◽  
Vol 11 (22) ◽  
pp. 10992
Author(s):  
Dong Hyun Ha ◽  
Raeyoung Kim
Keyword(s):  
Permanent Magnet ◽  
Position Control ◽  
Control Method ◽  
Tracking Error ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Permanent Magnet Synchronous Motors ◽  
Optimal Position ◽  
Synchronous Motors ◽  
Cascade Structure

Previous control methods were designed based on cascade structure and consist of position and current controllers for permanent magnet-synchronous motors (PMSMs). Thus, the structures of the previous methods are necessarily complex although the stability is guaranteed. Thus, the gain tuning is difficult to obtain for the desired control performance for the PMSMs. To overcome this problem, this paper proposes a nonlinear optimal position control method with an observer to improve the position tracking performance of PMSMs. The proposed method consists of a desired state generator, controller, and nonlinear observer. The desired states and inputs are derived using the PMSM model. Then, the state feedback controller is designed based on the whole tracking error dynamics including both mechanical and electrical dynamics. The nonlinear observer is designed to estimate the velocity and load torque. The closed-loop stability is proven using the input-to-state stability. The proposed method is not designed based on the cascade structure. Furthermore, the control and observer gains are chosen using an optimal control method to obtain the desired performance for the PMSMs. This approach simplifies the design process such that the control algorithm is suitable for real-time control. The performance of the proposed method is validated via simulations and experiments.

scholarly journals Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 20
Author(s):  
Manh Hung Nguyen ◽  
Hoang Vu Dao ◽  
Kyoung Kwan Ahn
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
System Stability ◽  
Position Tracking ◽  
Parametric Uncertainties ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

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