A discrete-time framework for proximate time-optimal performance of damped servomechanisms

Flores, Jeferson Vieira; Saltón, Aurélio T.; Silva, J.M. Gomes da; Neto, N.B.; Chen, Zhihong

doi:10.1016/j.mechatronics.2016.04.003

Cited by 7 publications

(6 citation statements)

References 22 publications

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“…Then, the problem of computing the time derivatives of x 1 (t) is reduced to the problem of computing the states of the linear time-invariant homogeneous system (24). By using operational calculus, the expression (24) can be expressed as…”

Section: Algebraic State Estimation and Persistent Excitationmentioning

confidence: 99%

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An Efficient on‐Line Parameter Identification Algorithm for Nonlinear Servomechanisms with an Algebraic Technique for State Estimation

Miranda-Colorado

Moreno–Valenzuela

2017

Asian Journal of Control

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This paper presents a methodology for on-line closed-loop identification of a class of nonlinear servomechanisms. First, a system is defined with the same structure as the actual servomechanism, but using time-varying estimated parameters. No coupling between the actual and the estimation systems is present. Position, velocity and acceleration errors, defined as the difference of the actual respective signals and the signals coming from the estimation system, are required in the identification method. Then, a recursive algorithm for on-line identification of the system parameters is derived from a cost function depending on a linear combination of all the estimation errors. Velocity and acceleration estimates, required in the proposed parameter identification algorithm, are obtained by using an algebraic methodology. The identification algorithm is compared by means of real-time experiments with an on-line least squares algorithm with forgetting factor and an off-line least squares algorithm with data preprocessing. Experimental results show that the proposed approach has a performance comparable to that obtained with the off-line least squares algorithm, but with the advantage of avoiding any preprocessing.

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Section: Algebraic State Estimation and Persistent Excitationmentioning

confidence: 99%

“…Considering parameter identification of servomechanisms, in the LS algorithm was used to design a time‐optimal control of damped servomechanisms. A RLS algorithm was used in for identifying the models of a electro‐hydraulic servo system.…”

Section: Introductionmentioning

confidence: 99%

An Efficient on‐Line Parameter Identification Algorithm for Nonlinear Servomechanisms with an Algebraic Technique for State Estimation

Miranda-Colorado

Moreno–Valenzuela

2017

Asian Journal of Control

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“…The designs by Workman (1987), Dhanda and Franklin (2009), Salton et al (2012), and Cheng and Hu (2014), were all targeted at those plants with a double-integrator model. To accommodate the more general class of servo plants characterized by an inertia block cascaded with an integrator, an enhanced acceleration factor was introduced by Flores et al (2016) to replace the original PTOS discount factor, and a set of linear matrix inequalities were formulated to ensure the local stability of closed-loop system. A different approach was taken by Lu and Cheng (2016), which proposed the so-called expanded PTOS (referred to as EPTOS) based on a new derivation of TOC law.…”

Section: Introductionmentioning

confidence: 99%

A large-stroke rapid motion controller for servo applications with speed and control constraints

Cheng

2021

Transactions of the Institute of Measurement and Control

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Large-stroke rapid motion is required in many industrial servo systems (e.g. pick-and-place applications), on which constraints of control input and motion speed are usually imposed. This paper presents a hybrid control scheme for large-stroke rapid motion in such systems. The controller resorts to the time-optimal control (TOC) for maximum acceleration initially and then switches into a linear control law to achieve smooth settling. A speed regulation stage is inserted in the tracking process to prevent violating the speed constraint. To tackle the unmeasured speed and unknown disturbance, an extended state observer (ESO) can be included in the controller. The controller is applied to a permanent magnet synchronous motor (PMSM) servo system for large-stroke position regulation. Digital simulation via MATLAB is conducted first, followed by an experimental verification using a TMS320F28335 board. The results confirm that the proposed controller can track a wide range of target references with desirable performance under speed constraint and load disturbance and has a competitive advantage over the popular active disturbance-rejection control (ADRC) scheme.

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“…In fact, the research of PTOS is still a topic of interest in academic publications, and its advancement in tracking signals at WSRs has been confirmed [14][15][16][17][18]. The linear control employed by the PTOS during the tracking of signals in SRSs requires a compromise between swiftness and smoothness.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, when using PTOS to track a SRS, there is still much room for improvement in system performance. The authors of [15] proposed a dynamically damped PTOS to nearly eliminate the conservatism of the original PTOS, which is combined with composite nonlinear feedback (CNF). When the input signal is a SRS, the linear feedback part of CNF is used to achieve the swiftness of response, and the nonlinear feedback part makes the system damping ratio in a changing state to get a better dynamic performance.…”

Section: Introductionmentioning

confidence: 99%

Proximate Time-Optimal Servomechanism Based on Transition Process for Electro-Optical Set-Point Tracking Servo System

Duan

Mao

et al. 2019

Applied Sciences

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Set-point tracking servo systems encounter the problem of the trade-off between the swiftness and smoothness in tracking task. To deal with this problem, the proximate time-optimal servomechanism based on transition process (PTSTP) is proposed in this paper. The PTSTP control scheme incorporates a transition process (TP) into the framework of proximate time-optimal servomechanism (PTOS) to eliminate the conservatism of the original PTOS without the controller changing. The target position signal amplitude and the ultimate ability of actuator are utilized to design the time-optimal TP to make the jumping target position signal turns to a smooth signal, which can significantly reduce system overshoot. Therefore, the system swiftness and smoothness performance are guaranteed by PTSTP. Then, the stability of the proposed method is analyzed theoretically. Finally, the experimental results show that the controlled system is able to track the target position signal with different amplitude fast and smoothly in an electro-optical set-point tracking servo system.

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A discrete-time framework for proximate time-optimal performance of damped servomechanisms

Cited by 7 publications

References 22 publications

An Efficient on‐Line Parameter Identification Algorithm for Nonlinear Servomechanisms with an Algebraic Technique for State Estimation

An Efficient on‐Line Parameter Identification Algorithm for Nonlinear Servomechanisms with an Algebraic Technique for State Estimation

A large-stroke rapid motion controller for servo applications with speed and control constraints

Proximate Time-Optimal Servomechanism Based on Transition Process for Electro-Optical Set-Point Tracking Servo System

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