Sequential design for model calibration in iterative learning control of DC motor

Kowalów, Damian; Patan, Maciej; Paszke, Wojciech; Romanek, Adam

doi:10.1109/mmar.2015.7283977

Cited by 13 publications

(3 citation statements)

References 25 publications

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“…Many different methods are proposed to control DC Motors and servo systems. These approaches are PID control, fractional order PID control [8], fuzzy logic control [9], linear quadratic regulator (LQR), PID control based on artificial intelligence [10], sliding mode control [11], and iterative learning control [12]. Moreover, studies on hybrid control methods continues.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Durdu¹,

Dursun²

2019

ELEKTRON ELEKTROTECH

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In this paper, the real-time position control of servo system is carried out using sliding mode control (SMC) method based on variable structure control (VSC). As DC Motors are commonly used in many industrial applications and robotics, studies in this paper have are tested on a DC servo system, which is designed and produced by Quanser Inc. Three different types of sliding mode controllers are designed for position control of servo system and, later, performance comparison of DC Motor on Servo system is made. According to results obtained from real-time servo system, it is shown that SMC method is robust against to disturbing effects, variabilities, and uncertainties on the systems. Outstanding part of this paper is that designed controllers are implemented to servo system in real-time with a variable loaded DC Motor. Moreover, this study shows that this control structure can be performed as high performance in the real-time motor control applications.

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Section: Introductionmentioning

confidence: 99%

Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Durdu¹,

Dursun²

2019

ELEKTRON ELEKTROTECH

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“…Therefore, iterative learning PID control (IL-PID) is proposed to eliminate deficiencies of traditional PID methods [12]. Iterative learning control (ILC) is used in industrial robots [13]- [15], DC motors [16], health care systems [17], [18] and many other areas. Moreover, it is considered that usage of SMC provides advantages to cope with mentioned negative effects.…”

Section: Introductionmentioning

confidence: 99%

Speed Control of a Variable Loaded DC Motor by Using Sliding Mode and Iterative Learning Control

Dursun¹,

Levent²,

Durdu³

et al. 2017

IJOEE

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In this paper, speed control of a DC Motor with time varying loaded is performed by using sliding mode control (SMC), classical PID control and iterative learning control (ILC) methods. SMC is a robust nonlinear control method which has insensibility against to external disturbing effects and parametric variations of system. On the other hand, a control method of ILC provides an excellent performance on tracking. In the iterative learning PID (IL-PID) controller, the parameters of PID are automatically adjusted by using the algorithm of iterative learning. In this study, firstly, a DC Motor is modeled by using real data. Secondly, controllers which are an iterative learning PID (IL-PID), SMC-based and classical PID are designed and tested. Moreover, performance analysis of these controllers is done for load changes in the time interval. According to obtained results, the output of SMCbased system converges quickly to the reference value and the system gives the fastest response when changing of load occurs. Another result of this study is that the steady state error based on the learning success of ILC is decreased by IL-PID controller. The novel part of this study is that the comparison of these types of controllers is firstly made with this study. 

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“…A linear model is usually used [3,4], but this type of model has the problem that the parameters used, such as resistance, inductance, and back electromotive force (back-EMF), change under different operating conditions [5,6]. In this situation, the parameters are adjusted for one specific work condition and they are not modified.…”

mentioning

confidence: 99%

A Novel Method for Sensorless Speed Detection of Brushed DC Motors

2016

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Many motor applications require accurate speed measurement. For brushed dc motors, speed can be measured with conventional observers or sensorless observers. Sensorless observers have the advantage of not requiring any external devices to be attached to the motor. Instead, voltage and/or current are measured and used to estimate the speed. The sensorless observers are usually divided into two groups: those based on the dynamic model, and those based on the ripple component. This paper proposes a method that measures the current of brushed dc motors and analyses the position of its spectral components. From these spectral components, the method estimates the motor speed. Three tests, performed each with the speeds ranging from 2000 to 3000 rpm either at constant-speed, at slowly changing speeds, or at rapidly changing speeds, showed that the average error was below 1 rpm and that the deviation error was below 1.5 rpm. The proposed method: (i) is a novel method that is not based on either the dynamic model or on the ripple component; (ii) requires only the measurement of the current for the speed estimation; (iii) can be used for brushed dc (direct current) motors with a large number of coils; and (iv) achieves a low error in the speed estimation.

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Sequential design for model calibration in iterative learning control of DC motor

Cited by 13 publications

References 25 publications

Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

Speed Control of a Variable Loaded DC Motor by Using Sliding Mode and Iterative Learning Control

A Novel Method for Sensorless Speed Detection of Brushed DC Motors

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