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Permanent-magnet synchronous-motor is a multi-variable, non-linear, strong coupling system that is highly sensitive to the outer interfere and inter perturbation. To improve the system robustness, the adaptive back-stepping control of permanent magnet synchronous motor based on slide mode observer is put forward. Based on the mathematic model of permanent magnet synchronous motor and the theory of...
Traditionally, the sensor design for Inertial Sensing of Human movement/posture is done using an accelerometer-gyroscope combination while detection of static or dynamic activities is done using uniaxial accelerometers. A single axis accelerometer-gyroscope combination uses sensor fusion along with a Kalman Filter to estimate the inclination. The inclination is obtained by integrating angular velocity...
An alternative way to control a nonlinear system, such as a two Degree Of Freedom helicopter, is the linearization of the model around an equilibrium point, in this case, an equilibrium point around the Pitch angle. Subsequently, the design a Robust Controller for this system is done, using a the DK iteration method. However, when a variation of an angle such as its uncertainty is modeled, the performance...
Nonlinear motion model of HEV electronic throttle is built. Aiming at the problem that is difficult to set the nonlinear control system optimum parameters for the traditional PID control, and based on the advantages of the fast convergence and strong universal approximation ability of the neural network, the method neural network setting PID control electronic throttle based on the Radial Basis Function...
This paper considers a linear control design of separately excited DC motor system (SEDCM) operated in the field weakening high speed regime. Nonlinear multiple input - multiple output (MIMO) feedback linearization is applied and a linear controller schema is proposed. It is shown that very good control performances can be obtained with the classical PI cascaded linear controllers in conjunction with...
This paper presents an application of the nonlinear ℋ∞ controller to two-wheeled self-balanced vehicles. An underactuated mechanical control system representation under input coupling is used to design the control law. To achieve null steady-state error when persistent disturbances are acting on the system, the integral of the position error is considered in the state vector. Practical results obtained...
If a Predictive Torque Controller neglects the saliency of a machine the resulting prediction error contains the rotor angle information. A scheme to extract this information is derived in linear theory and extended for the nonlinear effects of a real reluctance synchronous machine. Measurement results confirm that this saliency based approach without signal injection is able to operate in the entire...
In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance...
This paper presents a speed controller for an interior permanent magnet synchronous motor (IPMSM) based on adaptive backstepping method. IPMSM speed is acquired through extended-EMF method, which is simple to achieve and has a good dynamic performance. A novel nonlinear control strategy, backstepping, is used to design speed tracking and current controllers. The system can achieve fast speed tracking...
For the DC chassis dynamometer, a nonlinear mathematical model was established based on the analysis of the transmission system of the DC dynamometer, and an adaptive controller based on RBF NN (radial basis function neural network) was proposed to control a dynamometer to load resistance intelligently to achieve stepless simulation of inertia. By using the Lyapunov synthesis approach, it was proved...
Efficiency optimization control of salient pole permanent magnet synchronous motor (PMSM) based on maximum ratio of torque to current is presented. From basic equations of PMSM in reference frame, the method of maximum ratio of torque to current was derived using maximum principle. Then, based on the Least Squares Support Vector Machine (LSSVM), modeling of LSSVM controller of maximum ratio of torque...
Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
This paper deals with robust nonlinear speed control of permanent magnet synchronous machine. The controller is based on one-step-ahead continuous time minimization of the predicted tracking error and no online optimization is required. An integral action is incorporated in the loop to increase the robustness of this control scheme against load torque variations. The proposed nonlinear controller...
This paper develops backstepping-sliding mode control method for multi-input and multi-out nonlinear system. In order to solve the chattering problem, three continuous functions are introduced and the error function is employed as the sliding surface function finally after detailed comparison. Certain kind of two-axis tracking system is taken as an example. And dynamic model of the system is established...
Control levers for command setting are widely used, e. g. as thrust control in marine or aviation applications. Actually these levers are equipped with a mechanical brake to avoid movements of the lever in case of vibrations. Special control points are indicated to the user by mechanical detents. The basic idea of an active lever is to create a force feedback to the user which depends on the current...
A bearingless induction motor is a multi-variable, strong-coupled and nonlinear system. To start with, according to the working principles of bearingless induction motor, the equations of torque force and radial suspension forces are inferred. Then the state equations of motor based on rotor flux orientation is set up. Secondly, the reversibility of system based on the mechanical equations is discussed...
In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation...
Intrinsic properties of ultrasonic motor (high torque for low speed, high static torque, compact in size, etc.) offer great advantages for industrial applications. However, when load torque is applied, dead-zone occurs in the control input. Therefore, a nonlinear controller, which considers dead-zone, is adopted for ultrasonic motor. The state quantities, such as acceleration, speed, and position...
Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. In contrast, digital acceleration control (DAC) is robust against these modeling errors by nonlinear terms. DAC requires information of...
Intrinsic properties of ultrasonic motor (high torque for low speed, high static torque, compact in size, etc.) offer great advantages for industrial applications. However, when load torque is applied, dead-zone occurs in control input. Therefore, sliding mode controller, which is a nonlinear controller, is adopted for ultrasonic motor. The state quantities, such as acceleration, speed, and position...
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