A Sensorless Passivity-Based Control for the DC/DC Buck Converter‑Inverter‑DC Motor System

The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

show abstract

“…It would be convenient, however, that the robot power stage be redesigned in order to perform bidirectional trajectory tracking [127][128][129].…”

Section: Discussionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

Self Cite

View full text Add to dashboard Cite

show abstract

“…In this regard, when an inverter is integrated between the converter and the DC motor, bidirectional rotation of the motor shaft is achieved, giving rise to the "DC/DC Buck converter-inverter-DC motor" system [21]. Related to this system, the trajectory tracking problem has been addressed in [22,23]. Note that as such a system includes an inverter connected to the DC motor, an abrupt behavior of the voltages and currents is generated because of the hard switching of the transistors composing the inverter; consequently, the useful life of the DC motor could be reduced.…”

Section: Discussion Of Related Work and Contributionmentioning

confidence: 99%

New “Full-Bridge Buck Inverter–DC Motor” System: Steady-State and Dynamic Analysis and Experimental Validation

et al. 2019

View full text Add to dashboard Cite

A mathematical model of a new "full-bridge Buck inverter-DC motor" system is developed and experimentally validated. First, using circuit theory and the mathematical model of a DC motor, the dynamic behavior of the system under study is deduced. Later, the steady-state, stability, controllability, and flatness properties of the deduced model are described. The flatness property, associated with the mathematical model, is then exploited so that all system variables and the input can be differentially parameterized in terms of the flat output, which is determined by the angular velocity. Then, when a desired trajectory is proposed for the flat output, the input signal is calculated offline and is introduced into the system. In consequence, the validation of the mathematical model for constant and time-varying duty cycles is possible. Such a validation of this mathematical model is tackled from two directions: (1) by circuit simulation through the SimPowerSystems toolbox of Matlab-Simulink and (2) via a prototype of the system built by using Matlab-Simulink and a DS1104 board. The good similarities between the circuit simulation and the experimental results allow satisfactorily validating the mathematical model.

show abstract

“…In this direction, Ortigoza et al presented in [35] the modeling and experimental validation of the DC/DC Buck converter-inverter-DC motor system. While in [36], Ortigoza et al designed and tested a passivity-based tracking control for a built prototype of the same system. Furthermore, the model and a passivity-based tracking control for the DC/DC Boost converter-inverter-DC motor system were reported in [37] by García-Rodríguez et al and [38] by Ortigoza et al, respectively.…”

Section: Bidirectional Rotationmentioning

confidence: 99%

“…After reviewing the literature of the DC motors driven by DC/DC power converters, it was found that different controls have executed the angular velocity regulation and trajectory tracking tasks in two fashions: (i) for unidirectional rotation of the motor shaft and (ii) for bidirectional rotation of the motor shaft [35][36][37][38][39][40][41]. From the point of view of the practical and industrial applications, are limited when compared with [35][36][37][38][39][40][41].…”

Section: Bidirectional Rotationmentioning

confidence: 99%

See 1 more Smart Citation

Bidirectional Tracking Robust Controls for a DC/DC Buck Converter‐DC Motor System

et al. 2018

Self Cite

View full text Add to dashboard Cite

Two differential flatness-based bidirectional tracking robust controls for a DC/DC Buck converter-DC motor system are designed. To achieve such a bidirectional tracking, an inverter is used in the system. First control considers the complete dynamics of the system, that is, it considers the DC/DC Buck converter-inverter-DC motor connection as a whole. Whereas the second separates the dynamics of the Buck converter from the one of the inverter-DC motor, so that a hierarchical controller is generated. The experimental implementation of both controls is performed via MATLAB-Simulink and a DS1104 board in a built prototype of the DC/DC Buck converter-inverter-DC motor connection. Controls show a good performance even when system parameters are subjected to abrupt uncertainties. Thus, robustness of such controls is verified.

show abstract

A Sensorless Passivity-Based Control for the DC/DC Buck Converter‑Inverter‑DC Motor System

Cited by 31 publications

References 9 publications

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

New “Full-Bridge Buck Inverter–DC Motor” System: Steady-State and Dynamic Analysis and Experimental Validation

Bidirectional Tracking Robust Controls for a DC/DC Buck Converter‐DC Motor System

Contact Info

Product

Resources

About