Hierarchical Velocity Control Based on Differential Flatness for a DC/DC Buck Converter-DC Motor System

Abstract

This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter. The high level control is related to the DC motor and the low level control is dedicated to the DC/DC Buck converter; both controls are designed via differential flatness. The high level control provides a desired voltage profile for the DC motor to achieve the tracking of a desired angular velocity trajectory. Then, a low level control is designed to ensure that the output voltage of the DC/DC Buck converter tracks the voltage profile imposed by the high level control. In order to experimentally verify the hierarchical controller performance, a DS1104 electronic board from dSPACE and Matlab-Simulink are used. The switched implementation of the hierarchical average controller is accomplished by means of pulse width modulation. Experimental results of the hierarchical controller for the velocity trajectory tracking task show good performance and robustness against the uncertainties associated with different system parameters.

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

“…This system, in general, is composed of three stages, namely, a DC/DC Buck converter, a complete bridge inverter, and a DC motor. Unlike the arrangements presented in [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29], such configuration allows the bidirectional driving of the motor shaft. The system average model presented in Figure 1, which was deduced and experimentally validated in [35], is given by…”

“…This first control considers all the system dynamics, that is, it is based on the fourth-order nonlinear model (1), (2), (3), and (4). Departing from the work experience related to the DC/DC Buck converter-DC motor, particularly [17,18], and [19], and from the control objectives, the flat outputs of the system (1), (2), (3), and (4) are proposed as F 1 = υ and F 2 = ω. Thus, the system differential parametrization is determined by…”

“…According to [18], the system (25) has as flat output to ω. In consequence, the control ϑ allows the following representation:…”

“…While Bingöl and Paçaci [15] reported a virtual laboratory based on neural networks to control angular velocity of such system. Recent works dealing with the angular velocity trajectory tracking for the DC/DC Buck converter-DC motor system have been reported in [16][17][18][19][20][21]. Sira-Ramírez and Oliver-Salazar [16] proposed a robust control based on the active disturbance rejection and differential flatness for two configurations of the DC/DC Buck converter-DC motor system.…”

“…Sira-Ramírez and Oliver-Salazar [16] proposed a robust control based on the active disturbance rejection and differential flatness for two configurations of the DC/DC Buck converter-DC motor system. SilvaOrtigoza et al introduced robust hierarchical controls based on differential flatness [17,18] and sliding mode-PI with flatness in [19]. Likewise, Hernández-Guzmán et al [20] proposed a sliding mode control and PI for controlling the converter voltage, the armature current, and the angular velocity of the motor.…”