Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation
A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order t...
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| Format: | Article |
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MDPI AG
2021-12-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/1/66 |
| _version_ | 1797499292854779904 |
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| author | Xiuqin Wang Rui Zhang Guoli Li Qunjing Wang Yan Wen |
| author_facet | Xiuqin Wang Rui Zhang Guoli Li Qunjing Wang Yan Wen |
| author_sort | Xiuqin Wang |
| collection | DOAJ |
| description | A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order to keep the PMSpA with good trajectory tracking performance, this paper designs a time delay estimation controller based on gradient compensation. Firstly, the dynamic model of the PMSpA with nonlinear terms is derived. The nonlinear terms in the complex dynamic model can be simplified and estimated by the time delay estimation method. Secondly, for the estimation errors caused by time delay control, a gradient compensator is introduced to further correct and compensate for it. Furthermore, the stability of the designed controller is proved by the Lyapunov equation. Finally, the correctness and effectiveness of the controller are validated by comparison with other controllers through simulation. In addition, experimental results have also shown that the control accuracy of the spherical motor can be effectively improved using the proposed controller. |
| first_indexed | 2024-03-10T03:45:23Z |
| format | Article |
| id | doaj.art-67eb8758ed7f43a1b946e976fcc295ff |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T03:45:23Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-67eb8758ed7f43a1b946e976fcc295ff2023-11-23T11:22:22ZengMDPI AGElectronics2079-92922021-12-011116610.3390/electronics11010066Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient CompensationXiuqin Wang0Rui Zhang1Guoli Li2Qunjing Wang3Yan Wen4School of Electrical Engineering and Automation, Anhui University, Hefei 230601, ChinaSchool of Electrical Engineering and Automation, Anhui University, Hefei 230601, ChinaSchool of Electrical Engineering and Automation, Anhui University, Hefei 230601, ChinaSchool of Electrical Engineering and Automation, Anhui University, Hefei 230601, ChinaAnhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control, Anhui University, Hefei 230601, ChinaA multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order to keep the PMSpA with good trajectory tracking performance, this paper designs a time delay estimation controller based on gradient compensation. Firstly, the dynamic model of the PMSpA with nonlinear terms is derived. The nonlinear terms in the complex dynamic model can be simplified and estimated by the time delay estimation method. Secondly, for the estimation errors caused by time delay control, a gradient compensator is introduced to further correct and compensate for it. Furthermore, the stability of the designed controller is proved by the Lyapunov equation. Finally, the correctness and effectiveness of the controller are validated by comparison with other controllers through simulation. In addition, experimental results have also shown that the control accuracy of the spherical motor can be effectively improved using the proposed controller.https://www.mdpi.com/2079-9292/11/1/66PMSpAtime delay estimationgradient compensationtrajectory tracking |
| spellingShingle | Xiuqin Wang Rui Zhang Guoli Li Qunjing Wang Yan Wen Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation Electronics PMSpA time delay estimation gradient compensation trajectory tracking |
| title | Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation |
| title_full | Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation |
| title_fullStr | Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation |
| title_full_unstemmed | Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation |
| title_short | Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation |
| title_sort | time delay estimation control of permanent magnet spherical actuator based on gradient compensation |
| topic | PMSpA time delay estimation gradient compensation trajectory tracking |
| url | https://www.mdpi.com/2079-9292/11/1/66 |
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