Application of EMPC for precise position control of DC-motor system with Backlash

Aravind, MA and Dinesh, NS and Rajanna, K (2020) Application of EMPC for precise position control of DC-motor system with Backlash. In: Control Engineering Practice, 100 .

PDF con_eng_pra_100_2020.pdf - Published Version Restricted to Registered users only Download (1MB) | Request a copy

Abstract

This paper presents design of a modified controller based on the concept of Experience Mapping based Predictive Controller (EMPC) for precise position control of DC motor system containing backlash. The earlier design of EMPC addresses well-damped and under-damped systems. However, the control action is not suitable for systems containing backlash as it produces undesirable oscillations. The proposed design modifies the control action to include a separate action in the backlash region for both the well damped and under-damped position system using an Experience Mapped Knowledge(EMK). The simulation results show that the proposed controller performs well compared to previous EMPC techniques and it is also practically demonstrated on a test setup consisting of a backlash system. The simulation results are also compared with Model Reference Adaptive Controller for changes in system parameters like static friction and load inertia.

Item Type:	Journal Article
Publication:	Control Engineering Practice
Publisher:	Elsevier Ltd
Additional Information:	The copyright of this article belongs to Elsevier Ltd
Keywords:	Controllers; DC motors; Model reference adaptive control; Partial discharges; Position control; Stiction; User experience, Control actions; DC motor system; Experience mappings; Model reference adaptive controllers; Position systems; Precise position; Predictive controller; Static friction, Electric machine control
Department/Centre:	Division of Electrical Sciences > Electronic Systems Engineering (Formerly Centre for Electronic Design & Technology) Division of Physical & Mathematical Sciences > Instrumentation Appiled Physics
Date Deposited:	22 Jun 2020 08:39
Last Modified:	22 Jun 2020 08:39
URI:	http://eprints.iisc.ac.in/id/eprint/65346

Actions (login required)

View Item