scholarly journals Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Alejandro Rincón ◽  
Fredy E. Hoyos ◽  
Fabiola Angulo
Keyword(s):  
Controller Design ◽  
Digital Signal ◽  
Dc Motor ◽  
Second Order ◽  
Motor Speed ◽  
Adaptive Backstepping ◽  
Control Framework ◽  
Rapid Control ◽  
Time Varying Parameters ◽  
Rapid Control Prototyping

This paper shows the controller design for a second-order plant with unknown varying behavior in the parameters and in the disturbance. The state adaptive backstepping technique is used as control framework, but important modifications are introduced. The controller design achieves mainly the following two benefits: upper or lower bounds of the time-varying parameters of the model are not required, and the formulation of the control and update laws and stability analysis are simpler than closely related works that use the Nussbaum gain method. The controller has been developed and tested for a DC motor speed control and it has been implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform. The motor speed converges to a predefined desired output signal.

scholarly journals Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Fredy E. Hoyos ◽  
Alejandro Rincón ◽  
John Alexander Taborda ◽  
Nicolás Toro ◽  
Fabiola Angulo
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Digital Signal ◽  
Coupled System ◽  
Dc Motor ◽  
Power Converter ◽  
Control Technique ◽  
Motor Speed ◽  
Rapid Control ◽  
Rapid Control Prototyping

The motor speed of a buck power converter and DC motor coupled system is controlled by means of a quasi-sliding scheme. The fixed point inducting control technique and the zero average dynamics strategy are used in the controller design. To estimate the load and friction torques an online estimator, computed by the least mean squares method, is used. The control scheme is tested in a rapid control prototyping system which is based on digital signal processing for a dSPACE platform. The closed loop system exhibits adequate performance, and experimental and simulation results match.

scholarly journals Controlling a DC Motor through Lypaunov-like Functions and SAB Technique

2018 ◽  
Vol 8 (4) ◽  
pp. 2180
Author(s):  
Alejandro Rincón ◽  
Fabiola Angulo ◽  
Fredy Hoyos
Keyword(s):  
Digital Signal ◽  
Adaptive Controller ◽  
Dc Motor ◽  
Motor Speed ◽  
Adaptive Backstepping ◽  
Inertia Moment ◽  
Rapid Control ◽  
Rapid Control Prototyping ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

<p>In this paper, state adaptive backstepping and Lyapunov-like function methods are used to design a robust adaptive controller for a DC motor. The output to be controlled is the motor speed. It is assumed that the load torque and inertia moment exhibit unknown but bounded time-varying behavior, and that the measurement of the motor speed and motor current are corrupted by noise. The controller is implemented in a Rapid Control Prototyping system based on Digital Signal Processing for dSPACE platform and experimental results agree with theory.</p>

Adaptive Control for Buck Power Converter Using Fixed Point Inducting Control and Zero Average Dynamics Strategies

2015 ◽  
Vol 25 (04) ◽  
pp. 1550049 ◽  
Author(s):  
Fredy Edimer Hoyos Velasco ◽  
Nicolás Toro García ◽  
Yeison Alberto Garcés Gómez
Keyword(s):  
Fixed Point ◽  
Digital Signal ◽  
Power Converter ◽  
Buck Converter ◽  
Control Techniques ◽  
Comparison Results ◽  
Control Scheme ◽  
Rapid Control ◽  
Rapid Control Prototyping ◽  
Lms Method

In this paper, the output voltage of a buck power converter is controlled by means of a quasi-sliding scheme. The Fixed Point Inducting Control (FPIC) technique is used for the control design, based on the Zero Average Dynamics (ZAD) strategy, including load estimation by means of the Least Mean Squares (LMS) method. The control scheme is tested in a Rapid Control Prototyping (RCP) system based on Digital Signal Processing (DSP) for dSPACE platform. The closed loop system shows adequate performance. The experimental and simulation results match. The main contribution of this paper is to introduce the load estimator by means of LMS, to make ZAD and FPIC control feasible in load variation conditions. In addition, comparison results for controlled buck converter with SMC, PID and ZAD–FPIC control techniques are shown.

scholarly journals Controller Design and Preliminary Testing of a Powered Below-Knee Prosthetic Device

2012 ◽  
Author(s):  
Jinming Sun ◽  
Philip A. Voglewede
Keyword(s):  
Digital Signal Processor ◽  
Controller Design ◽  
Digital Signal ◽  
Power Input ◽  
Dc Motor ◽  
Bench Test ◽  
Area Network ◽  
Level Control ◽  
Lower Limb Prosthesis ◽  
Dsp Control

A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DC motor, was previously designed and fabricated. To regulate the motor power input, a two level controller was proposed and built. The control algorithm includes a higher level finite state controller and lower level PID controllers. A digital signal processor (DSP) control board and MATLAB Simulink are used to realize the higher level control and a DC motor controller is used to realize the lower level PID control. Controller Area Network (CAN) communication was used to communicate between the two level controllers. To preliminarily test if the motor can generate required power, a bench test was performed. The results show that the motor needs to be overpowered to achieve the required moment.

The Controller Design for DC Motor Speed System Based on Improved Fuzzy PID

2012 ◽  
Vol 466-467 ◽  
pp. 1246-1250 ◽  
Author(s):  
Bin Ma ◽  
Qing Bin Meng ◽  
Feng Yu ◽  
Zhong Hua Han ◽  
Chang Tao Wang
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Control Algorithm ◽  
Controller Design ◽  
Fast Response ◽  
Dc Motor ◽  
Fuzzy Pid ◽  
Motor Speed ◽  
Fuzzy Pid Control ◽  
Fuzzy Control Algorithm

In this paper, a controller is designed based on improved fuzzy PID to solve the problem that the dc motor performance of speed and dynamic is poor when using the conventional PID controller for the lack of adaptive capacity of the controller parameters. The improved fuzzy control algorithm is used for the tuning of PID controller to get good speed performances, which automatically adjust the parameter of PID controller according to the motor speed. The simulation results show that the improved fuzzy PID control with the advantages of fast response, small overshoot and strong anti-interference capability can effectively improve the dynamic characteristics and steady state accuracy.

scholarly journals Fractional Order PID Controller Design for DC Motor Speed Control System via Flower Pollination Algorithm

2019 ◽  
Vol 17 (1) ◽  
pp. 14-23 ◽  
Author(s):  
Deacha Puangdownreong
Keyword(s):  
Control System ◽  
Controller Design ◽  
Speed Control ◽  
Dc Motor ◽  
Population Based ◽  
Flower Pollination Algorithm ◽  
Motor Speed ◽  
Integer Order ◽  
Flower Pollination ◽  
Speed Control System

Over two decades, the fractional (non-integer) order PID (FOPID or PIλDµ ) controller was introduced and demonstrated to perform the better responses in comparison with the conventional integer order PID (IOPID). In this paper, the design of an optimal FOPID controller for a DC motor speed control system by the flower pollination algorithm (FPA), oneof the most efficient population-based metaheuristic optimization searching techniques, is proposed. Based on the modern optimization framework, five parameters of the FOPID controller are optimized by the FPA to meet the response specifications of the DC motor speed control system and defined as constraint functions. Results obtained by the FOPID controller are compared with those obtained by the IOPID designed by the FPA. As the simulation results show, the FOPID can provide significantly superior speed responses to the IOPID.

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