A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms
This paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approac...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/15/14/5121 |
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| author | W. Fermin Guerrero-Sánchez Jésus Linares-Flores Arturo Hernández-Méndez Victor R. Gonzalez-Diaz Gerardo Mino Aguilar German A. Munoz-Hernandez J. Fermi Guerrero-Castellanos |
| author_facet | W. Fermin Guerrero-Sánchez Jésus Linares-Flores Arturo Hernández-Méndez Victor R. Gonzalez-Diaz Gerardo Mino Aguilar German A. Munoz-Hernandez J. Fermi Guerrero-Castellanos |
| author_sort | W. Fermin Guerrero-Sánchez |
| collection | DOAJ |
| description | This paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approach is that the actuation provided by the motor needs to handle external disturbances to achieve the velocity tracking task and handle the interaction between both motors cooperatively to share the load and the disturbance rejection. The control’s basis involves differential flatness and an active disturbance rejection control (ADRC) framework augmented using ideas from the graph theory analysis and multi-agent networks. Experimental results verify the theoretical developments and show the effectiveness of the proposed control strategy despite unexpectedly changing load disturbance and parameters uncertainties. The proposed algorithm is suitable for embedded use due to its simplicity. It can be applied to a broad spectrum of mechatronic systems where dual-motor drive arrangements are necessary. |
| first_indexed | 2024-03-09T10:19:23Z |
| format | Article |
| id | doaj.art-8f2b379cccb64ea1a37e1fc337d81c02 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-09T10:19:23Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-8f2b379cccb64ea1a37e1fc337d81c022023-12-01T22:07:05ZengMDPI AGEnergies1996-10732022-07-011514512110.3390/en15145121A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in ServomechanismsW. Fermin Guerrero-Sánchez0Jésus Linares-Flores1Arturo Hernández-Méndez2Victor R. Gonzalez-Diaz3Gerardo Mino Aguilar4German A. Munoz-Hernandez5J. Fermi Guerrero-Castellanos6Facultad de Ciencias Físico-Matemáticas, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, MexicoInstituto de Electrónica y Mecatrónica, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca 69000, MexicoInstituto de Electrónica y Mecatrónica, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca 69000, MexicoFacultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, MexicoFacultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, MexicoFacultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, MexicoFacultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Puebla 72570, MexicoThis paper is concerned with designing a dynamical synchronization (via a robust cooperative control) of an electromechanical system network (EMSN), consisting of nonidentical brushed DC motors, where only the motors’ angular velocity measurements are available. The challenge of the proposed approach is that the actuation provided by the motor needs to handle external disturbances to achieve the velocity tracking task and handle the interaction between both motors cooperatively to share the load and the disturbance rejection. The control’s basis involves differential flatness and an active disturbance rejection control (ADRC) framework augmented using ideas from the graph theory analysis and multi-agent networks. Experimental results verify the theoretical developments and show the effectiveness of the proposed control strategy despite unexpectedly changing load disturbance and parameters uncertainties. The proposed algorithm is suitable for embedded use due to its simplicity. It can be applied to a broad spectrum of mechatronic systems where dual-motor drive arrangements are necessary.https://www.mdpi.com/1996-1073/15/14/5121speed synchronizationcooperative controlload-sharinginput-to-state-stability (ISS)active disturbance rejection control (ADRC)extended state observers (ESOs) |
| spellingShingle | W. Fermin Guerrero-Sánchez Jésus Linares-Flores Arturo Hernández-Méndez Victor R. Gonzalez-Diaz Gerardo Mino Aguilar German A. Munoz-Hernandez J. Fermi Guerrero-Castellanos A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms Energies speed synchronization cooperative control load-sharing input-to-state-stability (ISS) active disturbance rejection control (ADRC) extended state observers (ESOs) |
| title | A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms |
| title_full | A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms |
| title_fullStr | A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms |
| title_full_unstemmed | A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms |
| title_short | A Cooperative ADRC-Based Approach for Angular Velocity Synchronization and Load-Sharing in Servomechanisms |
| title_sort | cooperative adrc based approach for angular velocity synchronization and load sharing in servomechanisms |
| topic | speed synchronization cooperative control load-sharing input-to-state-stability (ISS) active disturbance rejection control (ADRC) extended state observers (ESOs) |
| url | https://www.mdpi.com/1996-1073/15/14/5121 |
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