scholarly journals Optimizing the Parameters of Sliding Mode Controllers for Stepper Motor through Simulink Response Optimizer Application

2021 ◽  
Vol 1 (2) ◽  
pp. 209-225
Author(s):  
Magdi Sadek Mahmoud ◽  
Ali H. AlRamadhan
Keyword(s):  
Steady State ◽  
Sliding Mode ◽  
Open Loop ◽  
Step Response ◽  
Stepper Motor ◽  
Model Parameters ◽  
Response Requirement ◽  
Load Torque ◽  
Sliding Mode Controllers ◽  
Motor Model

This paper will focus on optimizing parameters of sliding mode controllers (SMC) for hybrid stepper motor models simulated in Matlab/Simulink. The main objective is to achieve a smooth transient and robust, steady-state to track reference rotor position when the stepper motor is subjected to load disturbances. Two different structures of SMC controllers will be studied, which are based on the flat system concept that is applicable to the stepper motor model. The hassle to determine controller parameters will be optimized using the Simulink Response Optimizer application.  The performance of the controllers will be evaluated by considering load torque and variation in the model parameters. Although the results showed that an open-loop controller could move the rotor to the desired position, however, the transient response had undesired oscillations before the output settled at the steady state. The response was improved by optimizing SMC controllers’ parameters to meet the desire step response requirement. Despite both SMC methods have successfully tracked the reference, there are some challenges to deal with each method in regard to the state measurements, the number of optimized controllers’ parameters, and the scattering of control inputs.

Exact Deadbeat Controller Design From N Impulse Response Samples

1986 ◽  
Vol 108 (1) ◽  
pp. 65-68 ◽  
Author(s):  
R. E. Rink
Keyword(s):  
Steady State ◽  
Impulse Response ◽  
Controller Design ◽  
Open Loop ◽  
Step Response ◽  
Simple Method ◽  
Arbitrary Type ◽  
Pi Controllers ◽  
State Tracking ◽  
Time Invariant

A simple method is given for the design of exact deadbeat regulators and PI controllers when only N impulse or step response samples from the process are available. It is required that the process be linear, controllable, observable, time invariant, and that N≥2n, where n is the degree of the process. It is not required that the process be open-loop stable, in distinction with previously-given simple methods. This makes it easy to include any number of integrations in the controller to achieve steady-state tracking properties of arbitrary type.

Robust Boundary Control for an Euler Bernoulli Beam Subject to Unknown Harmonic Disturbances With a Focus on Resonance

2017 ◽  
Author(s):  
Dimitri Karagiannis ◽  
Verica Radisavljevic-Gajic
Keyword(s):  
Steady State ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Open Loop ◽  
Bernoulli Beam ◽  
Harmonic Vibrations ◽  
The Face ◽  
State Position ◽  
Backstepping Controller ◽  
Euler Bernoulli Beam

In this paper, a sliding mode backstepping controller for a pinned-pinned Euler-Bernoulli beam is briefly reviewed and its efficacy in the presence of unknown bounded harmonic disturbances at arbitrary frequencies is analyzed. A brief discussion of the open-loop unstable response to harmonic excitations at resonant frequencies is provided. Motivated by this, particular attention is given to excitations at the natural frequencies of the system. It is shown that in the face of such resonant disturbances, the sliding mode backstepping controller is able to eliminate the vibrations in the beam system where backstepping control alone cannot. Indeed it is shown that if the disturbances are not accounted for, the closed loop system exhibits large (relative to the initial conditions) steady state harmonic vibrations. When the unknown resonant harmonic disturbances are accounted for via the sliding mode backstepping technique, the steady state position is constant and does not exhibit any vibrations, and furthermore it reaches this steady state exponentially at an arbitrarily selected rate.

scholarly journals A Real-Time Realization Method for the Pneumatic Positioning System of the Industrial Automated Production Line Using Low-Cost On–Off Valves

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 260
Author(s):  
Zhonglin Lin ◽  
Qi Xie ◽  
Qiang Qian ◽  
Tianhong Zhang ◽  
Jiaming Zhang ◽  
...  
Keyword(s):  
Steady State ◽  
Real Time ◽  
Production Line ◽  
Sliding Mode ◽  
Low Cost ◽  
Control Period ◽  
System Stability ◽  
Step Response ◽  
Automated Production ◽  
State Error

In the industrial automated production line, how to use the existing low-cost pneumatic equipment to obtain the best positioning effect has become a significant engineering problem. In this paper, a differential switching method is proposed in a pneumatic servo system consisting of four low-cost on–off valves for more precise control and lower prices. All valves are simultaneously open at the initial stage of each control period, and the differential closing time of the desired valves is calculated through the theoretical models. A sliding mode controller is applied with the proposed method, and the system stability is proven. The real-time control setup including three software layers is proposed to implement the algorithm. Several experiments are performed on a real-time embedded controller. Average 0.83% overshoot and 0.18 mm steady-state error are observed in the step response experiment. The highest frequency of sine wave that can be tracked is 1 Hz, and the average error is 1.68 mm. The maximum steady-state error is about 0.5 mm in the step response under payloads of 5.25 kg. All the simulation and experimental results prove the effectiveness of the control method.

Position Control of Hybrid Stepper Motorbased PSD Fuzzy Controller

GIS Business ◽  
2019 ◽  
Vol 14 (6) ◽  
pp. 867-874
Author(s):  
MusaabMohammed Ahmed ◽  
M.A. Habli
Keyword(s):  
Real Time ◽  
Position Control ◽  
Fuzzy Controller ◽  
Open Loop ◽  
Step Response ◽  
Stepper Motor ◽  
Loop Control ◽  
Soft Computing Techniques ◽  
Response Enhancement ◽  
Loop Control System

Most control systems are working on the measurement coordinates and trajectories of dynamic targets in the space need to particular type of motor to meet the accuracy. It has demanding requirements for tracking the performance of the system. The currently used different soft computing techniques for step response enhancement of hybrid stepper motor are used to build up a model using MATLAB software package. The objective of the present paper is to use    PSD fuzzy controller to enhance the performance of the open loop control system to control the speed and position of the hybrid stepper motor performance. It was represented by 2DOF with a fuzzy controller and received an excellent response and good result. The difficulties are great and real time implementation of control actuation the controlling of position of hybrid stepper motor and to improve motors efficiency. The fieldoriented for a PM stepper motor application is presented in order to demonstrate the effectiveness for this real time embedded controller, t the proposed control algorithm will realize better rise time and less overshootbetter and detailed analysis is carried out to confirm the viability of the proposed system.

Sliding mode pressure controller for an electropneumatic brake: Part II—parameter identification and controller tests

2018 ◽  
Vol 232 (5) ◽  
pp. 583-591 ◽  
Author(s):  
Zhuojun Luo ◽  
Mengling Wu ◽  
Jianyong Zuo
Keyword(s):  
Steady State ◽  
Closed Loop ◽  
Sliding Mode ◽  
Frequency Characteristics ◽  
Step Response ◽  
Cylinder Pressure ◽  
Closed Loop System ◽  
Reference Signals ◽  
Pressure Controller ◽  
Brake Cylinder

In this article, the parameters of the sliding mode pressure controller proposed in part I of this article are identified using direct and indirect methods. A test bench, including hardware and software, is designed to test the performance of the controller. Step response tests are carried out to test controller transient and steady-state control performances. Pressure tracking tests, in which the pressure in the brake cylinder chamber is required to track sinusoidal reference signals, are carried out to test the magnitude and phase frequency characteristics of the closed-loop system. The test results suggest that the proposed controller has excellent closed-loop control performances. It can make full use of the available bandwidth of the electropneumatic brake and regulate the brake cylinder pressure to its required value quickly and precisely without obvious overshoot or undershoot in the step response tests. Steady-state error in the step response tests is no more than ±6 kPa. In the pressure tracking tests, the controller can make the brake cylinder pressure accurately track sinusoidal reference signals at low frequencies. The magnitude and phase frequency characteristics of the closed-loop system with different tube lengths and inner diameters are also given.

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