scholarly journals Comparison Of Different DC Motor Modeling Techniques

2018 ◽  
Vol 2 (2) ◽  
Author(s):  
Farzin Asadi
Keyword(s):  
System Design ◽  
Control Systems ◽  
Motion Control ◽  
Mathematical Description ◽  
Position Control ◽  
Dc Motor ◽  
Output Current ◽  
Accurate Model ◽  
Modeling Techniques ◽  
Loop Motion

Abstract: A DC motor is the most widely used actuator in the industry, especially for robotic applications such as position control of robot manipulators.  When  motor  is  used  in  high performance close loop motion control systems, an accurate model of motor is required for control system design [1,2] . Mathematical description of DC motor is divided into two subsystems :Electrical and mechanical subsystems. Electrical subsystem of a DC motor is simple. It consist of a resistor, an inductor and a back-EMF source. Nowadays , digital RLC meters can be found in nearly all labs. This paper study the reliability of model obtained by using a digital RLC meter. Results shows that although RLC meters can measure impedances easily and quickly ,   obtained values are not precious because RLC meter’ s  output current is in the range of mA while motor works with several Ampers.

Hierarchical Optimal Contour-Position Control of Motion Control Systems

2004 ◽  
Author(s):  
Robert G. Landers ◽  
S. N. Balakrishnan
Keyword(s):  
Control System ◽  
Control Systems ◽  
Motion Control ◽  
Position Control ◽  
Contour Error ◽  
Position Errors ◽  
Contour Control ◽  
Tracking Ability ◽  
Optimal Contour ◽  
Control Methodology

Contour control is critical in many motion control systems (e.g., manufacturing, robotics). A contour control algorithm is implemented in many applications to drive the contour error to zero; however, the additional algorithm significantly increases the complexity of the overall control system. In this paper, a hierarchical optimal control methodology is developed to design a single servomechanism control system capable of simultaneously driving contour error and individual servomechanism position errors to zero. The designer can systematically trade-off the importance of contour error and servomechanism position errors without the increased complexity of an additional algorithm. The methodology is applied to a two-axis motion control system and simulation studies are conducted for linear, circular, and elliptical contours. The results demonstrate the excellent tracking ability of the proposed motion control methodology and its utility for complex contours.

Design and Implementation of a General Control System Platform

2014 ◽  
Author(s):  
Kyle T. Peerless ◽  
Jasmine M. Panosian ◽  
Pezhman A. Hassanpour
Keyword(s):  
Control System ◽  
Control Systems ◽  
Mechanical Engineering ◽  
Position Control ◽  
Dc Motor ◽  
Teaching Tool ◽  
General Control ◽  
Design And Implementation ◽  
Hands On

In this study, the design and implementation of a general control system platform for educational purposes was performed. This project has been designed to facilitate the understanding of control systems in mechanical engineering by creating a foundational system to position-control the rotation of a DC motor, and then employing it as a teaching tool in the undergraduate Control Systems course at Loyola Marymount University (LMU). The objective of this effort was to lay the groundwork for a more “hands-on” control systems education at LMU by designing the general mechanical platform and a pilot on-off controller to illustrate its functionality and feasibility in the classroom. With the foundational stages complete, students in future classes will be able to design and build different controllers for this same device in order to investigate and apply their newly-acquired knowledge of control systems.

Balancing and Attitude Control of Double and Triple Inverted Pendulums

1995 ◽  
Vol 17 (3) ◽  
pp. 143-154 ◽  
Author(s):  
G. A. Medrano-Cerda ◽  
E. E. Eldukhri ◽  
M. Cetin
Keyword(s):  
Control Systems ◽  
Attitude Control ◽  
Inverted Pendulum ◽  
Position Control ◽  
Computer Control ◽  
Dc Motor ◽  
C Language ◽  
State Observers ◽  
Nyquist Plots ◽  
And Control

The design of robust computer control systems for balancing and attitude control of double and triple inverted pendulums is considered in this paper. For the double inverted pendulum, a DC motor mounted at the upper hinge is used to balance and control attitude of the upper link. For the triple inverted pendulum a DC motor mounted at the middle hinge is used to control the middle link, whereas proportional position control applied to a motor at the upper hinge is utilised to maintain the upper link in alignment with the middle link. In both cases the lower hinge is left free to rotate. The controller designs are based on linearised discrete-time models of the inverted pendulums. Each controller utilises state feedback implemented via reduced-order state observers. The relative stability properties of the control systems are evaluated using Nyquist plots of suitably defined functions. The controllers are designed using Matlab and implemented in a PC using C language. Experimental results showed satisfactory performance.

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

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals A Nonlinear Magnetic Stabilization Control Design for an Externally Manipulated DC Motor: An Academic Low-Cost Experimental Platform

Machines ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 101
Author(s):  
Leonardo Acho
Keyword(s):  
Hall Effect ◽  
Position Control ◽  
Low Cost ◽  
Time Derivative ◽  
Control Design ◽  
Dc Motor ◽  
Flexible Beam ◽  
Experimental Platform ◽  
Hall Effect Sensor ◽  
Vibrational Control

The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor signal. Vibrational control is robust against model uncertainties. Hence, for control design, a simple mathematical model of a DC-Motor is invoked. Then, this controller is realized by utilizing analog electronics via operational amplifiers. In the experimental set-up, one extreme of a flexible beam attached to the motor shaft, and with a permanent magnet fixed on the other end, is constructed. Therefore, the control action consists of externally manipulating the flexible beam rotational position by driving a moveable Hall-effect sensor that is located facing the magnet. The experimental platform results in a low-priced device and is useful for teaching control and electronic topics. Experimental results are evidenced to support the main paper contribution.

HIS System Design Based on UML

2014 ◽  
Vol 687-691 ◽  
pp. 2272-2275
Author(s):  
Ling Fang Huang
Keyword(s):  
Software Development ◽  
System Design ◽  
Object Oriented ◽  
Cost Performance ◽  
Application System ◽  
Accurate Model ◽  
Decisive Influence ◽  
Global Understanding ◽  
The Relationship

This paper establishes a new object-oriented HIS modeling mechanism and method based on UML. For HIS development, first establish a concise and accurate model, and it is the key to the software development. It can make the developers grasp the global understanding of the whole system and the relationship between its related parts, and can prevent people prematurely get into the details of the various modules. It has a decisive influence on various aspects of the application system such as cost, performance, flexibility, security, maintenance and so on.

Stream Selector’s Control System Based on High-Precision Incremental Encoder

2013 ◽  
Vol 303-306 ◽  
pp. 1657-1660
Author(s):  
Zhi Guang Zhang ◽  
Wei Hu ◽  
Xiao Qiong Li ◽  
Xue Fei Lv ◽  
Min Ping Zhang ◽  
...  
Keyword(s):  
Control System ◽  
Power Consumption ◽  
High Precision ◽  
Position Control ◽  
High Reliability ◽  
Dc Motor ◽  
Step Motor ◽  
Low Power Consumption ◽  
Incremental Encoder ◽  
The One

For the precision rotor position control of stream selector, a control system based on direct current motor (DC motor) has been constructed. The DC motor, with a high-precision incremental encoder used as the driving force, was assembled with the stream selector rotor through a shaft coupling. Following the motor rotation, the encoder generated two-channel quadrature pulses and one channel index pulses. An ultralow-power consumption microcontroller (msp430f2232) received theses pulses and calculated them. The position of the slot was determined by the number of pulses counted from the index pulse. Operator can set and monitored the slot positions of five stream selectors simultaneously through the program which was written with LabVIEW on the host computer. This module featured high reliability and low power consumption compared with the one driven by step motor. Beyond that, it was much smaller and lighter.

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