SENSORLESS POSITION CONTROL OF DC MOTOR USING MODEL PREDICTIVE CONTROLLER

2015 ◽  
Vol 77 (12) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu M. Abdullahi
Keyword(s):  
Position Control ◽  
Dc Motor ◽  
Black Box ◽  
Horizontal Position ◽  
Model Predictive Controller ◽  
Identification Scheme ◽  
Practical Experiment ◽  
Predictive Controller ◽  
Control Application

Sensors like rotary encoders are widely used in measuring the speed and position of DC motor in applications. Due to expensiveness, calibration complexities of these type of encoders, sensorless methods for measurements were used alternatively. This paper presents sensorless position control of a wheeled DC motor using system identified model. This approach overcome some conventional sensorless techniques that uses some approximations. The model is developed using black box identification scheme, based on the identified model, a model predictive controller was designed to track a desired horizontal position of the wheel. Practical experiment shows the concept gives a very good estimation of the position and speed and can be used in control application. 

scholarly journals Development of Model Predictive Controller for a Tail-Sitter VTOL UAV in Hover Flight

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2859 ◽  
Author(s):  
Boyang Li ◽  
Weifeng Zhou ◽  
Jingxuan Sun ◽  
Chih-Yung Wen ◽  
Chih-Keng Chen
Keyword(s):  
High Efficiency ◽  
Position Control ◽  
State Space Model ◽  
Nonlinear Dynamic Model ◽  
Model Predictive Controller ◽  
Position Controller ◽  
Predictive Controller ◽  
Hover Flight ◽  
Disturbance Model ◽  
Six Degree Of Freedom

This paper presents a model predictive controller (MPC) for position control of a vertical take-off and landing (VTOL) tail-sitter unmanned aerial vehicle (UAV) in hover flight. A ‘cross’ configuration quad-rotor tail-sitter UAV is designed with the capabilities for both hover and high efficiency level flight. The six-degree-of-freedom (DOF) nonlinear dynamic model of the UAV is built based on aerodynamic data obtained from wind tunnel experiments. The model predictive position controller is then developed with the augmented linearized state-space model. Measured and unmeasured disturbance model are introduced into the modeling and optimization process to improve disturbance rejection ability. The MPC controller is first verified and tuned in the hardware-in-loop (HIL) simulation environment and then implemented in an on-board flight computer for real-time indoor experiments. The simulation and experimental results show that the proposed MPC position controller has good trajectory tracking performance and robust position holding capability under the conditions of prevailing and gusty winds.

Position Control of a 2D Nonlinear Gantry Crane System Using Model Predictive Controller

2015 ◽  
Vol 735 ◽  
pp. 282-288
Author(s):  
Najib K. Dankadai ◽  
Ahmad Athif Mohd Faudzi ◽  
Amir Bature ◽  
Suleiman Babani ◽  
Muhammad I. Faruk
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Lagrange Equation ◽  
Input Voltage ◽  
Gantry Crane ◽  
Closed Loop System ◽  
Model Predictive Controller ◽  
Loop Control ◽  
Predictive Controller ◽  
Payload Mass

This paper presents the application of model predictive controller for controlling a nonlinear 2D gantry crane system with a DC motor as an actuator. The gantry crane system (GCS) dynamics is derived using Lagrange equation method. A model predictive controller is designed based on the linearised GCS and prediction cost function to ensure accurate positioning and oscillation reduction. Simulation via MATLAB and Simulink was performed to investigate the performance of the model predictive controller on the GCS. The controller test was done under several elements altering the behaviour of the system. The closed loop system was analysed considering different cable length, payload mass and trolley position. It was found that the closed loop control meets the main goal of this work, trolley positioning as fast as possible with minimum payload swinging all within a robust input voltage.

AN APPROACH TO IMPROVE THE PERFORMANCE OF A POSITION CONTROL DC MOTOR BY USING DIGITAL CONTROL SYSTEM

2016 ◽  
Vol 11 (1) ◽  
pp. 21-33
Author(s):  
Debargha Chakraborty ◽  
Binanda Kishore Mondal ◽  
Souvik Chatterjee ◽  
Sudipta Ghosh
Keyword(s):  
Control System ◽  
Digital Control ◽  
Position Control ◽  
Dc Motor ◽  
Digital Control System
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