scholarly journals A new sensorless speed control structure for PMSM using reference model

2017 ◽  
Vol 65 (4) ◽  
pp. 489-496 ◽  
Author(s):  
K. Urbanski
Keyword(s):  
Control Structure ◽  
Reference Model ◽  
Main Idea ◽  
Position Estimation ◽  
Precise Control ◽  
Model Following Control ◽  
Model Following ◽  
Voltage Vector ◽  
Speed Range ◽  
Motor Model

AbstractIn the paper a new sensorless control structure for the PMSM drive is presented. Such a structure is especially recommended for speed in the range of single revolutions per second (excluding standstill). The method uses a back EMF observer for position estimation. However, there is no need to estimate the speed. This is a big advantage because of possible irregularity of estimated back EMF in this speed range, which makes the calculation of speed difficult or impossible. The proposed structure is similar to the model following control, but the reference model attempts to track the motor operating point. The main idea is to utilize as a reference a model of the whole drive, including speed and current controllers and motor model. Such a model produces reference voltage for the real inverter. However, an extra unit – called rotator – is needed to provide precise control of direct axis current, which is sensitive to the improper position of the voltage vector. The rotator acts as a kind of compensator for error of position estimation.

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

Model-Based Maneuvering Controls for Autonomous Underwater Vehicles

1992 ◽  
Vol 114 (4) ◽  
pp. 614-622 ◽  
Author(s):  
A. J. Healey
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Reference Model ◽  
Autonomous Underwater Vehicles ◽  
Robustness Analysis ◽  
Underwater Vehicles ◽  
Feedback Systems ◽  
Model Based ◽  
Model Following Control ◽  
Handling Characteristics ◽  
Model Following

This paper proposes the development of a model following autopilot system for an Autonomous Underwater Vehicle (AUV) depth changing control. The parameters to command a maneuver are generated off-line and selected as appropriate by the vehicle’s autonomous control system. A series of such preprogrammed maneuvers can be stored in an on-board computer, and used as command generation systems for the autopilot. The paper presents a linear model following control (LMFC) design based on the open-loop linearized vehicle model as the reference model, a robustness analysis of the scheme and simulation results of response in the diveplane using the full nonlinear vehicle system equations. LMFC has been proposed for aircraft where certain desirable handling characteristics based on an arbitrary model are required or where decoupled control for Control Configured Vehicle (CCV) performance is needed. It is shown here that this model-based LMFC autopilot for underwater vehicles exhibits relatively robust behavior under conditions of parameter uncertainty and non-linearity which is not worse than the equivalent LQR/LTR for linear output feedback systems. Also, a tailored transient response is provided, conducive to near time optimal response.

An Adaptive Model Following Control for Robotic Manipulators

1983 ◽  
Vol 105 (3) ◽  
pp. 143-151 ◽  
Author(s):  
A. Balestrino ◽  
G. De Maria ◽  
L. Sciavicco
Keyword(s):  
Reference Model ◽  
Design Procedure ◽  
Pulse Amplitude ◽  
Robotic Manipulators ◽  
Adaptive Model ◽  
Control Structures ◽  
Model Following Control ◽  
Model Following ◽  
Advanced Control ◽  
Hyperstability Theory

The increased demand on robotic manipulator performances leads to the use of advanced control structures. An adaptive model following control system for robotic manipulators is developed via hyperstability theory. A new control algorithm is proposed that produces a discontinuous control signal, similar to a pulse amplitude signal, so that particular trajectories, referred as sliding modes, occur. The design procedure is simple and effective and always assures the asymptotic stability in the large. The decoupling properties can be achieved by a suitable choice of the reference model. A case study is developed by numerical simulation.

Design of MFCS with Time-Delay for Chemical Processing System

2011 ◽  
Vol 467-469 ◽  
pp. 1456-1461 ◽  
Author(s):  
Shu Jing Wu ◽  
Da Zhong Wang ◽  
Shigenori Okubo
Keyword(s):  
Control System ◽  
Time Delay ◽  
Power Systems ◽  
Communication Systems ◽  
Reference Model ◽  
Linear Time ◽  
Processing System ◽  
Chemical Processing ◽  
Model Following Control ◽  
Model Following

We can design model following control system (MFCS) with time-delay whose internal states are bounded. Time-delay widely exists among controlled objects in computer control processes, power systems, chemical processing systems, metallurgical processing systems, environmental systems and communication systems transmission systems and other industrial production activities[1]～[5], and makes it difficult to evaluate effects of control system input signals in time, which will ineluctably deteriorate performance of the control system in automatically removing outside disturbances, and influence stability of the system. This paper discusses a design of predictive control of MFCS for the linear time-delay based on the model following control theory proposed by Okubo[6], and is thus considered to be innovative and applicable. It is confirmed on basis of a numerical example that the output signal of the control system asymptotically follows the reference model signal in the case of the existence of disturbances.

Design and Analysis of Model Following Control Structure with Nonlinear Plant

2011 ◽  
Vol 180 ◽  
pp. 3-10
Author(s):  
Jerzy Brzózka
Keyword(s):  
Control Systems ◽  
Control Structure ◽  
Linear Control Systems ◽  
Input State ◽  
Nonlinear Characteristics ◽  
Linearization Methods ◽  
Model Following Control ◽  
Model Following ◽  
Course Control ◽  
Nonlinear Plant

Abstract. Linearization methods of the object: input-state and input-output linearization are used usually in a standard feedback control system. However, these systems are sensitive to the changes of nonlinear characteristics of the plant. These changes can be compensated in two types of control systems: in the model following control (MFC) and adaptive. The article presents the first solution and contains: miscellaneous structures of linear control systems with model following, brief description of the linearization’s methods, simulation example of the course control of vessel and the advantages of this solution.

Sign in / Sign up

Export Citation Format

Share Document