Modeling and Optimizing of Control System with Full-State Feedback and Integral Output Feedback for DC Motor

2011 ◽  
Vol 130-134 ◽  
pp. 2876-2880
Author(s):  
Qiang He
Keyword(s):  
Control System ◽  
Output Feedback ◽  
State Feedback ◽  
Dynamic Performance ◽  
State Space Model ◽  
Poor Performance ◽  
Dc Motor ◽  
Dc Motors ◽  
Full State ◽  
Full State Feedback

Conventional single closed-loop system of DC motor with speed-feedback has poor performance when some stochastic disturbances take place. To handle this shortcoming, the control system with full-state feedback and integral output feedback of DC motor is proposed. The state-space model of the full-state feedback of DC motors is established. The feedback gains of the control system are optimized by Particle Swarm Optimization algorithms based the simulation model. The simulation results show that the control system with full-state feedback of DC motors has better dynamic performance.

scholarly journals Metal Cutting Tool Position Control Using Static Output Feedback and Full State Feedback H2 Controllers

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Roman Jirma
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Metal Cutting ◽  
Position Control ◽  
Static Output Feedback ◽  
Metal Cutting Machine ◽  
Cutting Machine ◽  
Full State ◽  
Full State Feedback ◽  
Static Output

In this paper, a metal cutting machine position control have been designed and simulated using Matlab/Simulink Toolbox successfully. The open loop response of the system analysis shows that the system needs performance improvement. Static output feedback and full state feedback H2 controllers have been used to increase the performance of the system. Comparison of the metal cutting machine position using static output feedback and full state feedback H2 controllers have been done to track a set point position using step and sine wave input signals and a promising results have been analyzed.

scholarly journals Designing optimal speed control with observer using integrated battery-electric vehicle (IBEV) model for energy efficiency

2018 ◽  
Vol 9 (2) ◽  
pp. 89 ◽  
Author(s):  
Rina Ristiana ◽  
Arief Syaichu Rohman ◽  
Estiko Rijanto ◽  
Agus Purwadi ◽  
Egi Hidayat ◽  
...  
Keyword(s):  
Output Feedback ◽  
State Feedback ◽  
Flat Surface ◽  
Speed Control ◽  
State Of Charge ◽  
Battery Electric Vehicle ◽  
State Variable ◽  
Full State ◽  
Full State Feedback ◽  
Battery State Of Charge

This paper develops an optimal speed control using a linear quadratic integral (LQI) control standard with/without an observer in the system based on an integrated battery-electric vehicle (IBEV) model. The IBEV model includes the dynamics of the electric motor, longitudinal vehicle, inverter, and battery. The IBEV model has one state variable of indirectly measured and unobservable, but the system is detectable. The objectives of this study were: (a) to create a speed control that gets the exact solution for a system with one indirect measurement and unobservable state variable; and (b) to create a speed control that has the potential to make a more efficient energy system. A full state feedback LQI controller without an observer is used as a benchmark. Two output feedback LQI controllers are designed; including one controller uses an order-4 observer and the other uses an order-5 observer. The order-4 observer does not include the battery state of charge as an observer state whereas the order-5 observer is designed by making all the state variable as the observer state and using the battery state of charge as an additional system output. An electric passenger minibus for public transport with 1500 kg weight was used as the vehicle model. Simulations were performed when the vehicle moves in a flat surface with the increased speed from stationary to 60 km/h and moves according to standard NEDC driving profile. The simulation results showed that both the output feedback LQI controllers provided similar speed performance as compared to the full state feedback LQI controller. However, the output feedback LQI controller with the order-5 observer consumed less energy than with the order-4 observer, which is about 10% for NEDC driving profile and 12% for a flat surface. It can be concluded that the LQI controller with order-5 observer gives better energy efficiency than the LQI controller with order-4 observer

scholarly journals Kendali Kecepatan Motor DC dengan Buck Converter menggunakan Full State Feedback-Pole Placement

2021 ◽  
Vol 9 (2) ◽  
pp. 415
Author(s):  
NUR SULISTYAWATI ◽  
FAHMIZAL FAHMIZAL ◽  
IOTA NATHASYA
Keyword(s):  
Steady State ◽  
State Feedback ◽  
Dc Motor ◽  
Buck Converter ◽  
Settling Time ◽  
Pole Placement ◽  
Full State ◽  
Full State Feedback ◽  
Rising Time ◽  
State Error

ABSTRAKMakalah ini menyajikan penjelasan tentang penerepan full state feedback menggunakan metode pole placement pada sistem buck converter dengan Motor DC. Penambahan komponen buck converter diharapkan dapat membantu menaikkan nilai efisiensi sistem dan memperpanjang umur komponen switch yang digunakan. Namun terkadang sistem ini masih memerlukan kendali untuk dapat memaksimalkan perfoma sistem baik dari segi rising time, settling time maupun error steady state dari sistem. Simulasi kendali full state feedback menggunakan pole placement disimulasikan dengan pemodelan buck converter dan motor DC menggunakan Simscape dan Simulink pada Matlab. Dari hasil simulasi diperoleh bahwa kendali pole placement mampu menghasilkan kondisi rising time 1.4508s, settling time 2.5729s sedangkan kendali LQR lebih lambat 0.9524s untuk rising time dan 4.3603s untuk settling time saat diuji dengan sinyal step. Selain itu, penambahan pre compensator (Nbar) telah membuat sistem mampu mencapai nilai referensi yang diharapkan (error steady state menuju nol).Kata kunci: Motor DC, Buck Converter, Pole Placement. ABSTRACTThis paper presents an explanation of the advanced full state feedback using the pole placement method in a buck converter system with a DC motor. The addition of buck converter components is expected to help increase the value of system efficiency and extend the life of the switch components used. However, sometimes this system still requires control to be able to maximize system performance in terms of both the rising time, the settling time and the steady state error of the system. Full state feedback control simulation using pole placement is simulated by modeling the buck converter and DC motor using Simscape and Simulink in Matlab. The simulation results show that the pole placement control is capable of producing a rising time of 1.4508s, settling time of 2.5729s, while LQR control is 0.9524s slower for rising time and 4.3603s for settling time when tested with step signals. In addition, the addition of a pre compensator (Nbar) has made the system able to reach the expected reference value (steady state error goes to zero).Keywords: DC Motor, Buck Converter, Pole Placement.

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Emmanouil Spyrakos-Papastavridis ◽  
Jian S. Dai
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Impedance Control ◽  
Humanoid Robots ◽  
Flexible Joint ◽  
Model Free ◽  
Floating Base ◽  
Full State ◽  
Full State Feedback ◽  
Series Elastic Actuators

Abstract This paper attempts to address the quandary of flexible-joint humanoid balancing performance augmentation, via the introduction of the Full-State Feedback Variable Impedance Control (FSFVIC), and Model-Free Compliant Floating-base VIC (MCFVIC) schemes. In comparison to rigid-joint humanoid robots, efficient balancing control of compliant bipeds, powered by Series Elastic Actuators (or harmonic drives), requires the design of more sophisticated controllers encapsulating both the motor and underactuated link dynamics. It has been demonstrated that Variable Impedance Control (VIC) can improve robotic interaction performance, albeit by introducing energy-injecting elements that may jeopardize closed-loop stability. To this end, the novel FSFVIC and MCFVIC schemes are proposed, which amalgamate both collocated and non-collocated feedback gains, with power-shaping signals that are capable of preserving the system's stability/passivity during VIC. The FSFVIC and MCFVIC stably modulate the system's collocated state gains to augment balancing performance, in addition to the non-collocated state gains that dictate the position control accuracy. Utilization of arbitrarily low-impedance gains is permitted by both the FSFVIC and MCFVIC schemes propounded herein. An array of experiments involving the COmpliant huMANoid reveals that significant balancing performance amelioration is achievable through online modulation of the full-state feedback gains (VIC), as compared to utilization of invariant impedance control.

Active Vehicle Suspension Control Using Full State-Feedback Controller

2015 ◽  
Vol 1115 ◽  
pp. 440-445 ◽  
Author(s):  
Musa Mohammed Bello ◽  
Amir Akramin Shafie ◽  
Raisuddin Khan
Keyword(s):  
State Feedback ◽  
Ride Comfort ◽  
Active Suspension ◽  
Suspension System ◽  
Feedback Controller ◽  
Vehicle Suspension ◽  
Passive Suspension ◽  
Full State ◽  
Full State Feedback ◽  
Passive Suspension System

The main purpose of vehicle suspension system is to isolate the vehicle main body from any road geometrical irregularity in order to improve the passengers ride comfort and to maintain good handling stability. The present work aim at designing a control system for an active suspension system to be applied in today’s automotive industries. The design implementation involves construction of a state space model for quarter car with two degree of freedom and a development of full state-feedback controller. The performance of the active suspension system was assessed by comparing it response with that of the passive suspension system. Simulation using Matlab/Simulink environment shows that, even at resonant frequency the active suspension system produces a good dynamic response and a better ride comfort when compared to the passive suspension system.

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