Brushless DC Motor Speed Control System of the Walking Aids Machine

Wang, Xitai; Zhang, Xuexiu; Li, Lifeng; Liu, Bingshan

doi:10.1109/icinis.2009.155

Cited by 5 publications

(1 citation statement)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, feedback gains for cascade control should be tuned carefully to get high motion performance with ensured stability [3][4][5]. On the other hand, a single position or velocity loop control is adopted by many researchers, e.g., see [6][7][8][9][10]. In [11], a linear transfer function for the DC motor actuator is derived with a reduced model by neglecting the electric time constant (armature inductance=0).…”

Section: Introductionmentioning

confidence: 99%

FAT-based adaptive backstepping control of an electromechanical system with an unknown input coefficient

Al-Shuka¹

2021

FME Transactions

View full text Add to dashboard Cite

This paper is focused on orthogonal function approximation technique FAT-based adaptive backstepping control of a geared DC motor coupled with a rotational mechanical component. It is assumed that all parameters of the actuator are unknown including the torque-current constant (i.e., unknown input coefficient) and hence a control system with three motor control modes is proposed: 1) motor torque control mode, 2) motor current control mode, and 3) motor voltage control mode. The proposed control algorithm is a powerful tool to control a dynamic system with an unknown input coefficient. Each uncertain parameter/term is represented by a linear combination of weighting and orthogonal basis function vectors. Chebyshev polynomial is used as a strong approximator for estimation of uncertainty. The designed control law includes three terms: a feedforward term, a feedback term and a robust term for compensation of modeling error. Lyapunov stability is used to prove the validity of the proposed controller and to derive the update laws for the weighting vectors of orthogonal Chebyshev approximators. A case study of a geared DC motor in connection with a rotating output load is simulated to prove the effectiveness of the proposed controller structure.

show abstract