Induction Motor Position Controller Based on Rotational Motion Equations

Mahmoud M. Salem 전력전자학회 2008 JOURNAL OF POWER ELECTRONICS Vol.8 No.3

This paper presents a proposed position controller for a vector controlled induction motor. The position controller design depends on the rotational motion equations and a classical speed controller (CSC) performance. The CSC is designed to have the ability to track variable reference inputs and to provide a predefined system performance. Standard position controller in industry is presented to analyze its performance and its drawbacks. Then the proposed position controller is designed, based on the well defined rotational motion equations. The proposed position controller and the CSC are applied to control the position and speed of the vector controlled induction motor with different ratings. Simulation results at different operating conditions are presented to evaluate the proposed controllers' performance. The results show that the CSC can drive the motor with a predefined speed performance and can track a variable reference speed with an approximately zero steady state error. The results also show that the proposed position controller has the ability to effect high-precision positioning in a limited time and to track a variable reference position with a zero steady state error.

Performance Comparison of Position Controlled Robotic Stage When Force- and Position-Based Disturbance Observers are Implemented

Kangwagye Samuel,Junyoung Kim,Sehoon Oh 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Position control of the robotic stage when position-based and force-based disturbance observers (DOB) are implemented and their performances compared is presented in this paper. Implementation of the DOBs is aimed at improving the quality of force control by suppressing the disturbances within and into the robot mechanical system. This is because the accuracy of position control is of paramount importance since bad position control affects the reproducibility of the position perturbation which in-turn affects the production of reliable force readings for balance assessment function with the robotic stage. The overall control and disturbance suppression performance is analyzed and compared for all the control strategies. Simulations and experiments are conducted to evaluate the position control strategies. Moreover, the obtained reaction force recorded when the DOB-based position control strategies are utilized is also analyzed to point out their differences which are caused by the designed controllers.

P-PI 직렬 제어기의 응답 개선을 위해 가속도 보상을 이용한 제어 알고리즘

손영득(Yung-Deug Son),김형진(Hyeong-Jin Kim),김장목(Jang-Mok Kim) 한국조명·전기설비학회 2020 조명·전기설비학회논문지 Vol.34 No.2

This paper analyzes the considerations for the design of the position controller that is controlled at the low frequency. The P-PI controller is mainly used to control the motor position. The controller has the limited bandwidth and control performance is degraded when controlled at the low frequency. Therefore, there is need for the position controller that can improve the position control performance at the low control bandwidth. To follow the fast position response without overshoot in the low control frequency, the paper proposes a new position control algorithm that compensates through the relation between the position controller and the reference speed. The proposed algorithm is verified through simulation results.

통제양식과 심리적 적응간의 관계

박성현,성승연 한국사회및성격심리학회 2011 한국심리학회지 사회 및 성격 Vol.25 No.2

Shapiro suggested new concept to measure the positive aspect of secondary control(positive yielding mode) as well as the negative aspect of primary control. The purpose of this study was to find out the optimum combination among control modes for the psychological adaptation. Subjects were grouped according to their control mode scores into high or low groups and then grouped again with assertive and yielding modes, resulting 8 groups. The ANOVA was used to test the significance of difference on psychological adaptation among each groups. Another purpose of this study was to investigate the way how the negative assertive mode and the positive yielding mode contribute to the psychological adaptation. To do this, hierarchical regression analysis was used among two control modes and the interaction between positive assertive and negative yielding modes. The result showed that those who were high on positive assertive mode and positive yielding mode had not only higher sense of positive control but lower sense of negative control than others. They also showed lower level of depression. Those who were negatively high on both, on the other hand, showed low sense of positive control and high sense ho negative control. They were more depressed and anxious than others. The negative assertive mode interacted with other control mode, deducing the psychological adaptation, but the positive yielding mode increased it or alleviated the deterioration of adaption at least. Shapiro(1994)는 기존의 통제 개념에 더하여 일차적 통제의 부정적 측면(부정적 주장양식) 과 이차적 통제의 긍정적 측면(긍정적 수용양식)을 측정할 수 있는 새로운 개념을 제안하였다. 이 연구에서는 첫째, 통제양식들이 어떻게 조합되었을 때 심리적 적응에 최적으로 기여하는 가를 알아보고자했다. 이를 위해 4가지 통제양식 점수를 중위수를 기준으로 상, 하 집단으로 구분한 후, 긍정적 주장양식과 긍정적 수용양식이 조합된 4개의 집단과 부정적 주장양식과 부정적 수용양식이 조합된 4개의 집단을 구성하였다. 집단 간에 심리적 적응지표들에서 유의한 차이가 있는가를 변량 분석(ANOVA)을 통해 분석하였다. 둘째, 부정적 주장양식과 긍정적 수용양식이 적응에 어떠한 방식으로 영향을 미치는가를 알아보고자 했다. 적응지표들에 대해 이들 두 가지 통제양식과 긍정적 주장양식 및 부정적 수용양식의 상호작용 효과를 위계적 회귀분석을 사용하여 분석하였다. 연구 결과, 긍정적 주장양식과 긍정적 수용양식 점수가 모두 높은 집단은 다른 집단들에 비해 긍정적 통제감을 더 지각하고, 부정적 통제감은 덜 지각했으며, 우울 수준 또한 낮았다. 반면, 부정적 주장양식과 부정적 수용양식의 점수가 모두 높은 집단은 긍정적 통제감은 낮게 지각하고 부정적 통제감, 우울 및 불안의 점수는 높았다. 부정적 주장양식은 다른 통제양식과 상호작용을 통해 적응을 떨어뜨린 반면, 긍정적 수용양식은 다른 통제양식과 상호작용을 통해 적응을 증진시키거나 적응의 악화를 완충하는 작용을 하였다.

3-Dimensional Position Control Scheme for Mobile Harbor Crane

Dongho Kim,Youngjin Park 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

The new position control scheme at the terminal time in 3-D space is proposed for mobile harbor (MH) crane system equipped with a dual-stage trolley and hoist. Wave-induced motions of the MH and container ship cause swing of the payload and time-varying target position. Since the payload being applied by resonant disturbances should be loaded or unloaded on the moving container ship with resonance frequency, it is the worst environment to perform the accurate position control. In the proposed control method, the payload is only matched to the target at the terminal time unlike the tracking control approach which makes the payload to follow the movement of target on whole time. The terminal time is defined as the moment that the target velocity is minimum to prevent damage of the container. And this method is composed of swing free control stage and positon control stage. Control schemes in each stage are model-based optimal control. To discuss the efficiency of the proposed position control, numerical simulations results and performance comparison with the previous tracking control are shown.

Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI

Shu-Huan Wen,Wei Zheng,Shi-Dong Jia,Zhi-Xin Ji,Peng-Cheng Hao,Hak-Keung Lam 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6

This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integraldifferential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methodscompared with the conventional PI controller.

Induction Motor Position Controller Based on Rotational Motion Equations

Salem, Mahmoud M. The Korean Institute of Power Electronics 2008 JOURNAL OF POWER ELECTRONICS Vol.8 No.3

This paper presents a proposed position controller for a vector controlled induction motor. The position controller design depends on the rotational motion equations and a classical speed controller (CSC) performance. The CSC is designed to have the ability to track variable reference inputs and to provide a predefined system performance. Standard position controller in industry is presented to analyze its performance and its drawbacks. Then the proposed position controller is designed, based on the well defined rotational motion equations. The proposed position controller and the CSC are applied to control the position and speed of the vector controlled induction motor with different ratings. Simulation results at different operating conditions are presented to evaluate the proposed controllers' performance. The results show that the CSC can drive the motor with a predefined speed performance and can track a variable reference speed with an approximately zero steady state error. The results also show that the proposed position controller has the ability to effect high-precision positioning in a limited time and to track a variable reference position with a zero steady state error.

High Response and Precision Control of Electronic Throttle Controller Module without Hall Position Sensor for Detecting Rotor Position of BLDCM

Lee, Sang-Hun,Ahn, Jin-Woo Journal of International Conference on Electrical 2013 Journal of international Conference on Electrical Vol.2 No.1

This paper describes the characteristics of Electronic Throttle Controller (ETC) module in BLDC motor without the hall sensor for detecting a rotor position. The proposed ETC control system, which is mainly consisted of a BLDC motor, a throttle plate, a return spring and reduction gear, has a position sensor with an analogue voltage output on the throttle valve instead of BLDC motor for detecting the rotor position. So the additional commutation information is necessarily needed to control the ETC module. For this, the estimation method is applied. In order to improve and obtain the high resolution for the position control, it is generally needed to change the gear ratio of the module or the electrical switching method etc. In this paper, the 3-phase switching between successive commutations is adapted instead of the 2-phase switching that is conventionally used. In addition, the position control with a variable PI gain is applied to improve a dynamic response during a transient period and reduce vibration at a stop in case of matching position reference. The mentioned method can be used to estimate the commutation state and operate the high-precision position control for the ETC module and the high response characteristics. The validity of the proposed method is examined through the experimental results.

Integrative Tracking Control Strategy for Robotic Excavation

Niraj Reginald,Jaho Seo,Moohyun Cha 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.10

Automated excavation is hard to achieve due to several inherent problems such as resistive force acting against the bucket, non-homogenous dynamics of various excavation media, and nonlinearities of the excavator’s hydraulics system. To deal with this issue, this paper provides an integrative control strategy for successful autonomous excavation that considers the mutually associated factors, i.e., position, contour, and force control. For the position tracking, a non-linear PI controller was designed to track the position of individual actuators of the excavator and thereby control the bucket tip’s position. In addition, the contour control technique was applied to achieve an optimal excavation path to minimize contour errors. Finally, to compensate for the ground resistive force during digging tasks, a force impedance controller was designed along with the time-delayed control that reducesthe effect of dynamic uncertainties. Experimental results with a modified mini-wheeled excavator show that the developed integrative tracking control strategy can provide a comprehensive solution to improving the tracking performance for autonomous excavation that can simultaneously deal with the critical components of position, contour, and force control.

A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit

Kaixian Ba,Guo-liang Ma,Bin Yu,Zheng-guo Jin,Zhi-peng Huang,Jun-xiao Zhang,Xiangdong Kong 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7

In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of nonlinear model-based variable impedance parameters controller (MVIPC) is designed. First, the mathematical model of position-based impedance control for HDU is given. Second, the performance of traditional position-based impedance control is tested on the HDU performance test platform under different working conditions, and the experimental results show that the control accuracy of this control method needs to be improved greatly. Thirdly, the control idea of MVIPC is described, and the theoretical derivation is deduced. MVIPC considers the high-order dynamic characteristics of servo valve, pressure-flow nonlinearity of servo valve, oil compressibility and load characteristics. Finally, the control performance of MVIPC is verified on the HDU performance test platform. The experimental results show that MVIPC can significantly improve the performance of traditional position-based impedance control, and have an excellent adaptability under different working conditions. This research can provide an underlying control method of hydraulic systems during the robot locomotion.