Adaptive Velocity Control of DC Motors With Coulomb Friction Identification

1993 ◽  
Vol 115 (1) ◽  
pp. 95-102 ◽  
Author(s):  
Y. P. Yang ◽  
J. S. Chu
Keyword(s):  
Adaptive Control ◽  
Coulomb Friction ◽  
Dc Motor ◽  
Binary Sequences ◽  
Control Technique ◽  
Velocity Control ◽  
Servo Motor ◽  
Estimation Model ◽  
Estimated Parameters ◽  
Friction Parameter

A new dc motor control technique for the Coulomb friction compensation is proposed. The technique uses an adaptive velocity control scheme for a dc servo motor with on-line estimated parameters, including a Coulomb friction parameter, which is a combination of the Coulomb friction torque, motor time constant, moment of inertia of the motor, and sampling time of the discrete-time motor model. The estimation model used in the adaptive control process is validated off-line by a pseudo-linear regression algorithm for system parameters in a linear ARMAX model, and by adaptive Kalman filters for the Coulomb friction parameter described as pseudo-random binary sequences. The adaptive controller consists of a friction compensator and a PID controller, whose gains are adjusted adaptively in terms of estimated parameters. The proposed adaptive control law is implemented and tested on a microprocessor-based dc servo motor, and is applicable to many dc-motor-driven precision servo mechanisms. Experimental results are shown to be superior to those of conventional PID controls in terms of parameter fluctuation.

Composite adaptive control based on historical data for electro-hydraulic system driven by dual servo motor-pump with unknown disturbance

2021 ◽  
pp. 095965182199860
Author(s):  
Xiaofu Zhang ◽  
Guanglin Shi
Keyword(s):  
Adaptive Control ◽  
Hydraulic System ◽  
Historical Data ◽  
Tracking Performance ◽  
Load Force ◽  
Position Tracking ◽  
Servo Motor ◽  
Estimated Parameters ◽  
Unknown Disturbance ◽  
Composite Adaptive Control

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system, including the damping coefficient and elastic modulus. In order to release the persistent excitation condition of conventional adaptive control, which is often infeasible in practice, a prediction error based on the online historical data is used to update the estimated parameters. Furthermore, a disturbance observer is used to estimate the disturbance including the unmeasurable load force, friction and other unmodeled disturbance. The experiment results are provided and compared with other methods to verify the effectiveness of the proposed method, and the results have indicated that the proposed method has a better position-tracking performance with the convergent estimated parameters.

Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

1988 ◽  
Vol 110 (4) ◽  
pp. 343-349 ◽  
Author(s):  
P. N. Nikiforuk ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Coulomb Friction ◽  
Motor System ◽  
Position Control ◽  
Adaptive Controller ◽  
Analog Computer ◽  
Adaptive Control System ◽  
Servo Motor ◽  
Analytical Functions

This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

scholarly journals Adaptive Control of D. C. Servo Motor System with Coulomb Friction

1984 ◽  
Vol 20 (7) ◽  
pp. 663-665 ◽  
Author(s):  
Katsutoshi TAMURA ◽  
Kunihiko ICHIKAWA ◽  
Kenji KOTAKI ◽  
Yasushi AMANO
Keyword(s):  
Adaptive Control ◽  
Coulomb Friction ◽  
Motor System ◽  
Servo Motor

Modeling and Adaptive Control of Novel Electromechanical Inverter

2021 ◽  
Vol 4 (2) ◽  
pp. 76-82
Author(s):  
Muhammad Siddique ◽  
Bushra Syed ◽  
Muhammad Shahzad ◽  
Ayesha Khalid ◽  
Kiran Amjad ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Adaptive Control ◽  
Reference Model ◽  
Dc Motor ◽  
Rotating Magnetic Field ◽  
Control Technique ◽  
Control Law ◽  
Adaptation Mechanism ◽  
And Control ◽  
Model Reference Adaptive

A novel idea of electromechanical inverter (EMI) is proposed. This inverter minimize the complexity and cost of conventional rotating magnetic field inverters. The electromechanical inverter works on phenomena of rotating magnetic field in which changing flux in the external coils through dc motor induced an emf in the output coil. For controlling the speed of dc motor and rotation of coils, the adaptive control is used to avoid the saturation in magnetic field. The adaptive control system that is used for the electromechanical inverter (EMI) is model-reference adaptive control (MRAC) which has four parts i.e plant, reference model, adaptation mechanism and control law. An adaptation mechanism is designed with MIT rule of MRAC. The authenticity of proposed control technique for electromechanical inverter is verified by simulation results. The simulation result shows efficacy of proposed adaptive control technique using MATLAB

Enhanced Composite Nonlinear Control Technique using Adaptive Control for Nonlinear Delayed Systems

2020 ◽  
Vol 13 (3) ◽  
pp. 396-404
Author(s):  
Sonal Singh ◽  
Shubhi Purwar
Keyword(s):  
Adaptive Control ◽  
Actuator Saturation ◽  
Input Saturation ◽  
Chemical Reactor ◽  
Control Technique ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Delayed Systems ◽  
Analysis Of Stability

Background and Introduction: The proposed control law is designed to provide fast reference tracking with minimal overshoot and to minimize the effect of unknown nonlinearities and external disturbances. Methods: In this work, an enhanced composite nonlinear feedback technique using adaptive control is developed for a nonlinear delayed system subjected to input saturation and exogenous disturbances. It ensures that the plant response is not affected by adverse effect of actuator saturation, unknown time delay and unknown nonlinearities/ disturbances. The analysis of stability is done by Lyapunov-Krasovskii functional that guarantees asymptotical stability. Results: The proposed control law is validated by its implementation on exothermic chemical reactor. MATLAB figures are provided to compare the results. Conclusion: The simulation results of the proposed controller are compared with the conventional composite nonlinear feedback control which illustrates the efficiency of the proposed controller.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

scholarly journals ADAPTIVE CONTROL OF A SHUNT DC MOTOR WITH PERSISTENT EXCITATION

2005 ◽  
Vol 38 (1) ◽  
pp. 163-168
Author(s):  
Jeng Tze Huang ◽  
Yen Huei Chou
Keyword(s):  
Adaptive Control ◽  
Dc Motor ◽  
Persistent Excitation
Sign in / Sign up

Export Citation Format

Share Document