An integrated methodology for the preliminary design of highly reliable electromechanical actuators: Search for architecture solutions

2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)

2013

There are more trends to use electromechanical actuator (EMA) in aerospace and robotics applications which require easy control, high efficiency, and high dynamics. This paper deals with experimental identification, uncertainty modeling, and robust PID controller design for position control of a real EMA. It is identified and modeled as linear system with parametric uncertainty and time delay by using its experimental input-output data. The captured data, related to several experiments at different conditions, were used for model estimation and validation purposes. Robust PID controller is designed by graphical findings of the regions of stability with pre-specified margins and bandwidth requirements and by applying the complex Kharitonov's theorem. This novel method enables designers to make the convenient trade-off between stability and performance by choosing the proper margins and bandwidth specifications. The simulation and test results prove the superiority of the performance of this new EMA over the original EMA control system; this preference is pertaining to its robustness to parametric uncertainties.

Section: Introductionmentioning

confidence: 99%

Identification, uncertainty modelling, and robust controller design for an electromechanical actuator

2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)

2013

“…[1][2][3] EMA is subjected to uncertainties for several reasons including operating point changes, perpetual parametric variations because of temperature changes, aging, un-modeled dynamics, load changes, and asymmetric behavior. Consequently, the desired EMA's performance will be unachievable and, in some cases, its stability may be lost.…”

Section: Introductionmentioning

confidence: 99%

Identification, uncertainty modeling and robust controller design for an electromechanical actuator

Proceedings of the Institution of Mechanical Engineers, Part C:

2016

Electromechanical actuators (EMAs) are of interest for applications which require easy control and high dynamics. This paper addresses the experimental identification, structured and unstructured uncertainties modeling, and robust control design for an EMA system with harmonic drive. Two robust controllers are designed by two proposed approaches: The first is based on Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system but also maintains the pre-specified margins and bandwidth constraints. The second is feedback compensation design procedure based on H 1 control theory, verifying good tradeoff between the powerful H 1 controller and the unique features of feedback compensation, such as simplicity, effectiveness, low sensitivity to parameters variations, low cost, and easy implementation. Simulation and experiments prove the robustness and high tracking performance of the robust EMA systems which reveals the affectivity of the proposed robust control design methods.

“…In recent years, electromechanical actuators (EMA) are finding increasing use in robotic and aerospace applications, since they have attractive characteristics such as simplicity, reliability, low cost, good dynamic characteristics, and easy control (Liscouët, Maré, and Budinger 2012;Ristanović, Ćojbašić, and Lazić 2012). EMA modeling is subject to uncertainty for several reasons including operating point changes, parametric variations because of temperature changes, aging, and unmodeled dynamics.…”

Section: Introductionmentioning

confidence: 99%

RobustH_∞feedback compensator design for an electromechanical actuator with time delay

Journal of the Chinese Institute of Engineers

2015

In this paper, a robust feedback compensator is designed for a real electromechanical actuator (EMA) and harmonic drive by introducing a novel procedure based on H ∞ control theory. Three main topics are treated; experimental identification, structured and unstructured uncertainties modeling, and robust control design for a real EMA harmonic drive system with time delay. The new approach verifies good trade-off between the powerful H ∞ controller and the unique features of feedback compensation, such as simplicity, effectiveness, low cost, and easy implementation. Simulation and test results prove the effectiveness of the approach and the superiority of the performance of the designed robust EMA with feedback compensation based on H ∞ controller over the original EMA with classic controller. This superiority is due to the new approach's low sensitivity to parameter variations and simplicity, in addition to its robustness.