Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique
This paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires a...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/10/23/2954 |
| _version_ | 1797507932546400256 |
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| author | Pierpaolo Dini Sergio Saponara |
| author_facet | Pierpaolo Dini Sergio Saponara |
| author_sort | Pierpaolo Dini |
| collection | DOAJ |
| description | This paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires an exhaustive modelling of the physical phenomena that cause the electromagnetic torque oscillations. In particular, the Cogging and Stribeck effects are taken into account, whose mathematical model is incorporated in the whole system of dynamic equations representing the complex mechatronic system, formed by the mechanics of the robot links and the dynamics of the actuators. Both the modelling procedure of the robot, directly incorporating the dynamics of the actuators and the electrical drive, consisting of the modulation system and inverter, and the systematic procedure necessary to obtain the equations of the components of the control vector are described in detail. Using the Processor-In-the-Loop (PIL) paradigm for a Cortex-A53 based embedded system, the beneficial effect of the proposed advanced control strategy is validated in terms of end-effector position control, in which we compare classic control system with the proposed algorithm, in order to highlight the better performance in precision and in reducing oscillations. |
| first_indexed | 2024-03-10T04:55:27Z |
| format | Article |
| id | doaj.art-99dc053385ae4bfda617148e1600ccc4 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T04:55:27Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-99dc053385ae4bfda617148e1600ccc42023-11-23T02:16:42ZengMDPI AGElectronics2079-92922021-11-011023295410.3390/electronics10232954Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization TechniquePierpaolo Dini0Sergio Saponara1Department of Information Engineering, University of Pisa, Lungarno Antonio Pacinotti, 43, 56126 Pisa, ItalyDepartment of Information Engineering, University of Pisa, Lungarno Antonio Pacinotti, 43, 56126 Pisa, ItalyThis paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires an exhaustive modelling of the physical phenomena that cause the electromagnetic torque oscillations. In particular, the Cogging and Stribeck effects are taken into account, whose mathematical model is incorporated in the whole system of dynamic equations representing the complex mechatronic system, formed by the mechanics of the robot links and the dynamics of the actuators. Both the modelling procedure of the robot, directly incorporating the dynamics of the actuators and the electrical drive, consisting of the modulation system and inverter, and the systematic procedure necessary to obtain the equations of the components of the control vector are described in detail. Using the Processor-In-the-Loop (PIL) paradigm for a Cortex-A53 based embedded system, the beneficial effect of the proposed advanced control strategy is validated in terms of end-effector position control, in which we compare classic control system with the proposed algorithm, in order to highlight the better performance in precision and in reducing oscillations.https://www.mdpi.com/2079-9292/10/23/2954model-based designsimulationmechatronicsdynamic systemsmodellingcontrol theory |
| spellingShingle | Pierpaolo Dini Sergio Saponara Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique Electronics model-based design simulation mechatronics dynamic systems modelling control theory |
| title | Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique |
| title_full | Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique |
| title_fullStr | Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique |
| title_full_unstemmed | Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique |
| title_short | Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique |
| title_sort | model based design of an improved electric drive controller for high precision applications based on feedback linearization technique |
| topic | model-based design simulation mechatronics dynamic systems modelling control theory |
| url | https://www.mdpi.com/2079-9292/10/23/2954 |
| work_keys_str_mv | AT pierpaolodini modelbaseddesignofanimprovedelectricdrivecontrollerforhighprecisionapplicationsbasedonfeedbacklinearizationtechnique AT sergiosaponara modelbaseddesignofanimprovedelectricdrivecontrollerforhighprecisionapplicationsbasedonfeedbacklinearizationtechnique |