Parameterised design of robust point‐to‐point fast motion controller
A dual‐parameter design of expanded proximate time‐optimal controller is proposed for fast point‐to‐point motion in typical electromechanical servo systems with a damping element. The controller initially resorts to a saturated control signal for the fastest acceleration or braking if possible and t...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-03-01
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| Series: | Electronics Letters |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/el.2016.4066 |
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| Summary: | A dual‐parameter design of expanded proximate time‐optimal controller is proposed for fast point‐to‐point motion in typical electromechanical servo systems with a damping element. The controller initially resorts to a saturated control signal for the fastest acceleration or braking if possible and then seamlessly gives way to a linear control strategy once the motion slows down. The damping ratio and natural frequency of the linear control law are chosen as the design parameters to allow for a better tuning of the control performance. An extended‐state observer is also included for simultaneous estimation of system speed and disturbance. Experimental verification is conducted on a DC motor position servo system using a TMS320F28335 board, and the effectiveness of the proposed design is demonstrated. |
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| ISSN: | 0013-5194 1350-911X |