Motion Control Systems

“…Since it is hard to model the disturbance forces, the estimation should be done. The estimation of the disturbance force can be done using first order low pass filter and reference input currents information and velocity feedback [19].…”

Section: Controller Designmentioning

confidence: 99%

Contouring Controller for Precise Motion Control Systems

2013

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Original scientific paperThis paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references. Contour error is constructed using transformation of trajectory tracking errors. Transformation is computationally efficient and requires only reference velocity information. Contour controller is designed using sliding mode control. Experiments are performed on planar linear motion stage and significant contour error reduction is observed. Konturni regulator za precizne slijedne sustave. Učlanku se raspravlja o algoritmu za generiranje trajektorija, metodi za konstrukciju pogreške konture te o sintezi konturnog regulatora. U algoritum za generiranje trajektorija, korištena je kombinacija eliptičnih Fourierovih odrednika (EFD) i vremenske aproksimacije splajnovima (TBSA) za odre ivanje referentnih vrijednosti položaja, brzine i ubrzanja. Pogreška konture je konstruirana korištenjem transformirane pogreške slije enja trajektorije. Transformacija je računski efikasna i potrebna joj je samo informacija o referentnoj brzini. Konturni regulator je projektiran koristeći upravljanje u kliznim režimima. Provedeni su eksperimenti na linearnom slijednom sustavu i primijećena su znatna smanjenja pogreške konture.Ključne riječi: konturni regulator, precizni slijedni sustavi, vremenska interpolacija splajnovima, upravljanje u kliznim režimima, eliptični Fourierovi odrednici, upravljanje akceleracijom

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“…The bandwidth of DOb should be as high as possible, so disturbance error can converge to zero in a wide range of frequency. DOb compensation error will converge to zero in practical terms with proper selection of cut of frequency [27]. This estimated disturbance plays a very critical role in the controller structure as a feed forward term, and does not influence the stability of the closed loop controller structure with the properly selected cut-off frequencies.…”

Section: = − (11)mentioning

confidence: 99%

Control Strategy for Grid Connected Inverters Under Unbalanced Network Conditions - A DOb Based Decoupled Current Approach

Özsoy¹,

Padmanaban²,

Mihet‐Popa³

et al. 2017

Preprint

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Penetration of grid connected inverters (GCI) has arisen in power systems due to increasing integration of renewable sources. However, restrictive grid codes require that renewable sources connected to the grid with power electronic systems must be properly connected and appropriate currents must be injected to support stability of the grid under grid faults. Simultaneous injection of symmetrical positive and negative sequence currents is mandatory to support stabilization of grid at the instant of grid faults. Conventional synchronously rotating frame dq current controllers are insufficient under grid faults due to low bandwidth of PI controllers. This paper proposes a new grid current control strategy for grid connected voltage source inverters under unbalanced grid voltage conditions. A proportional current controller with a first order low pass filter disturbance observer (DOb) is proposed which establishes positive sequence power requirements and independently control negative sequence current components under unbalanced voltage conditions. The method does not need any parameter, since it estimates nonlinear terms with low pass filter DOb. Simulations are implemented in Matlab/Simulink platform demonstrating the effectiveness of proposed method.

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Motion Control Systems

Cited by 98 publications

References 0 publications

Analysis of linear L1 adaptive control architectures for aerospace applications

Analysis of linear L1 adaptive control architectures for aerospace applications

Contouring Controller for Precise Motion Control Systems

Control Strategy for Grid Connected Inverters Under Unbalanced Network Conditions - A DOb Based Decoupled Current Approach

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