Model-Based Design of an Improved Electric Drive Controller for High-Precision Applications Based on Feedback Linearization Technique

Abstract

This paper presents the design flow of an advanced non-linear control strategy, able to absorb the effects that the main causes of torque oscillations, concerning synchronous electrical drives, cause on the positioning of the end-effector of a manipulator robot. The control technique used requires an exhaustive modelling of the physical phenomena that cause the electromagnetic torque oscillations. In particular, the Cogging and Stribeck effects are taken into account, whose mathematical model is incorporated in the whole system of dynamic equations representing the complex mechatronic system, formed by the mechanics of the robot links and the dynamics of the actuators. Both the modelling procedure of the robot, directly incorporating the dynamics of the actuators and the electrical drive, consisting of the modulation system and inverter, and the systematic procedure necessary to obtain the equations of the components of the control vector are described in detail. Using the Processor-In-the-Loop (PIL) paradigm for a Cortex-A53 based embedded system, the beneficial effect of the proposed advanced control strategy is validated in terms of end-effector position control, in which we compare classic control system with the proposed algorithm, in order to highlight the better performance in precision and in reducing oscillations.

Real‐time monitoring and ageing detection algorithm design with application on SiC‐based automotive power drive system

“…Reference is made to the dynamics of the three‐phase synchronous machine described through Park's equivalent DC model [61–68]. This modeling derives from the Unified Theory of Electrical Machines which defines the coordinate transformations to describe the dynamics in an equivalent way, going from three‐phase AC ($$abc$$‐frame) to DC‐equivalent ($$dq$$‐frame).…”

Real‐time electro‐thermal modelling and predictive control design of resonant power converter in full electric vehicle applications

“…Through the MBD approach, designers can comprehensively verify both the design of systems and devices, and their interaction, enabling the complete verification of control and monitoring algorithms by integrating these logic directly on the target processors and making them interact with the rest of the system (or the virtual version of the process). This reduces the design time of both hardware and software, as well as the validation time, and can reduce the stress on the components that do not need to be brought to operational limits for tests that can be performed using a mathematical model [1][2][3][4][5][6][7][8].…”

Review on Model Based Design of Advanced Control Algorithms for Cogging Torque Reduction in Power Drive Systems

“…For electro-mechanical systems of industrial interest, such as in robotics and industrial automation, dynamic system models are also found to have suitable formal properties for the application of this control methodology, which is why it is one of the most widely used control techniques by designers of algorithms and control systems [37][38][39][40][41][42].…”

“…Applying the inverse Z-transform yields the finite difference equation (or recursive equation) shown in Equation (40). The implementation on a microcontroller therefore requires memory to be kept of two steps prior to the current one.…”