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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 .

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Official URL: https://dx.doi.org/10.1016/j.conengprac.2020.10442...


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

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