Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors
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 contr...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-01-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/2/587 |
| _version_ | 1797414448130949120 |
|---|---|
| author | Sangmin Suh Wonhee Kim |
| author_facet | Sangmin Suh Wonhee Kim |
| author_sort | Sangmin Suh |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T05:33:10Z |
| format | Article |
| id | doaj.art-55e90d5f0122432597f1d510ee58f7c4 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T05:33:10Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-55e90d5f0122432597f1d510ee58f7c42023-12-03T12:31:00ZengMDPI AGApplied Sciences2076-34172021-01-0111258710.3390/app11020587Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper MotorsSangmin Suh0Wonhee Kim1Department of Information and Telecommunication Engineering, Gangneung-Wonju National University, Wonju-si, Gangwon-do 26403, KoreaSchool of Energy Systems Engineering, Chung-Ang University, Seoul 06974, KoreaIn 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.https://www.mdpi.com/2076-3417/11/2/587permanent-magnet stepper motorposition control |
| spellingShingle | Sangmin Suh Wonhee Kim Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors Applied Sciences permanent-magnet stepper motor position control |
| title | Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors |
| title_full | Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors |
| title_fullStr | Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors |
| title_full_unstemmed | Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors |
| title_short | Position Control Based on Add-on-Type Iterative Learning Control with Nonlinear Controller for Permanent-Magnet Stepper Motors |
| title_sort | position control based on add on type iterative learning control with nonlinear controller for permanent magnet stepper motors |
| topic | permanent-magnet stepper motor position control |
| url | https://www.mdpi.com/2076-3417/11/2/587 |
| work_keys_str_mv | AT sangminsuh positioncontrolbasedonaddontypeiterativelearningcontrolwithnonlinearcontrollerforpermanentmagnetsteppermotors AT wonheekim positioncontrolbasedonaddontypeiterativelearningcontrolwithnonlinearcontrollerforpermanentmagnetsteppermotors |