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Artículo

Deterministic robust control design for an iron core linear drive including second-order electrical dynamics

Villegas, Fernando JavierIcon ; Hecker, Rogelio LorenzoIcon ; Peña, Miguel
Fecha de publicación: 08/2018
Editorial: Professional Engineering Publishing Ltd
Revista: Proceedings Of The Institution Of Mechanical Engineers Part I-journal Of Systems And Control Engineering
ISSN: 0959-6518
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:
Sistemas de Automatización y Control

Resumen

This work proposes a deterministic robust controller to improve tracking performance for a linear motor, taking into account the electrical dynamics imposed by a commercial current controller. The design is split in two parts by means of the backstepping technique, in which the first part corresponds to a typical deterministic robust controller, neglecting the electrical dynamics. In the second part, a second-order electrical dynamics is considered using a particular state transformation. There, the proposed control law is composed of a term to compensate the known part of the model and a robust control term to impose a bound on the effect of uncertainties on tracking error. Stability and boundedness results for the complete controller are given. To this effect, a general result on boundedness and stability of nonlinear systems with conditionally bounded state variables is derived first. Finally, experimental results for the complete controller show an improvement on tracking error of up to 31.7% when compared with the results from the typical controller that neglects the electrical dynamics.
Palabras clave: LINEAR MOTOR , POSITION CONTROL , ROBUST CONTROL , NONLINEAR CONTROL , ELECTRICAL DYNAMICS
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info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/111170
URL: http://journals.sagepub.com/doi/10.1177/0959651818771481
DOI: http://dx.doi.org/10.1177/0959651818771481
Colecciones
Articulos(CCT - PATAGONIA CONFLUENCIA)
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - PATAGONIA CONFLUENCIA
Citación
Villegas, Fernando Javier; Hecker, Rogelio Lorenzo; Peña, Miguel; Deterministic robust control design for an iron core linear drive including second-order electrical dynamics; Professional Engineering Publishing Ltd; Proceedings Of The Institution Of Mechanical Engineers Part I-journal Of Systems And Control Engineering; 232; 8; 8-2018; 951-962
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