A robust servo system is important for performance improvement of motion control systems to several in dustry applications. Generally, these robust servo systems are constructed as PI controllers, H°O controllers and so on. These control systems have the output limitation concerning both the capacity of actuator and the safety of system. When a servo system with integral element has a large error input, it often leads to output saturation and sometimes a windup phenomenon takes place. Ordinarily, in order to overcome this prob lem, the conventional anti-windup approach is to stop integral and additional calculations of servo system. However, the speed servo system with the conventional anti-windup algorithm sometimes has an oscillated response, and moreover, the actual voltage limitation is carried out on the axis of three phase alternating current. This paper proposes both a new anti-windup algorithm considering the phase voltage saturation and a new phase compensation algorithm for the vector control system of induction motor. The experimental results and the numerical simulation results show that the speed servo system having the proposed algorithms regulates a motor speed smoothly and stably for a large and quick motor speed reference.
The multi-link system such as the musculoskeletal mechanism has a recursive dynamics representation. In order to control the body by the parallel calculation of the recursive algorithms of the inverse dynamics, the time delays of information transmission between the distributed calculation elements are required. These time delays are important to model and analyze the biological motor control as a distributed system, because the neural signal speeds are limited and the time delays are not negligible in the quick movement. And some time delays in the control loop make the moment unstable generally, but the biological motor control are stable and can handle the delays. In this paper, we focus on the function of the renshaw cell in the spinal cord of the biological motor control system. The renshaw cell forms the negative feedback loop of the motor neuron output, then we model the renshaw cell as the low-pass filter of torque output. And we propose a hierarchical distributed motor control system including the time delays for 3-dimensional movements, and the reaching simulation results that the time delay makes the movement unstable and the low-pass filter of torque output could contribute toward stabilizing the time delay loop in the distributed control system.
This paper presents a proposal of a model-based development method for industrial machinery drive systems using Hardware-in-the-loop Simulation system that can accommodate combined phenomena in mechanical, electrical, and control fields. The proposed method is applied to the development and verification of a speed control pattern that does not excites mechanical vibration in a stacker crane. And its effectiveness was confirmed.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.