Repetitive learning position control for full order model permanent magnet step motors

Verrelli, Cristiano Maria; Tomei, P.; Salis, Valerio; Bifaretti, Stefano

doi:10.1016/j.automatica.2015.10.038

Cited by 13 publications

(4 citation statements)

References 26 publications

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“…There are several drawbacks that have hindered the widespread adoption of SMs in servo applications. One significant limitation is their inherent nonlinear behavior, which poses challenges in achieving high-quality control and precise positioning [22] . Furthermore, SMs often exhibit lower torque density than other motor types, restricting their suitability for applications requiring high torque output [23] .…”

Section: Stepping Motormentioning

confidence: 99%

Advanced Electrical Motors and Control Strategies for High-quality Servo Systems - A Comprehensive Review

Cheng,

Zhou,

Qian

et al. 2024

Chin. J. Electr. Eng.

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Recent technological advancements have propelled remarkable progress in servo systems, resulting in their extensive utilization across various high-end applications. A comprehensive review of high-quality servo system technologies, focusing specifically on electrical motor topologies and control strategies is presented. In terms of motor topology, this study outlines the mainstream servo motors used across different periods, as well as the latest theories and technologies surrounding contemporary servo motors. In terms of control strategies, two well-established approaches are presented: field-oriented control and direct torque control.Additionally, it discusses advanced control strategies employed in servo systems, such as model predictive control (MPC) and fault tolerance control, among others.

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Section: Stepping Motormentioning

confidence: 99%

Advanced Electrical Motors and Control Strategies for High-quality Servo Systems - A Comprehensive Review

Cheng,

Zhou,

Qian

et al. 2024

Chin. J. Electr. Eng.

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“…До методів дослідження, які можна застосувати до даного предмету, є аналіз статистичних даних. Аналіз, в основі -уявне розкладання предмета на частини, які його складають [3][4][5][6][7][8][9]. Для створення нових засобів можна застосувати метод синтез, який об'єднує умовиводи, отримані в ході попереднього методу дослідження, в єдине ціле.…”

Section: мета і завдання дослідженняunclassified

Review of Research of the Influence of the Electromagnetic Field on Human Working Work and Development of Methods of Electromagnetic Wave Screening

Halil

Zakurdai

Scurikhin

et al. 2021

MEC

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This article discusses the issues of life safety of living objects under conditions of constant influence of an electromagnetic field on them. A planned laboratory facility for further research has been proposed. The mathematical apparatus of the generated electromagnetic field by the traction electric motor by the rolling stock of electric transport is shown. Conclusions are made that suggest the creation of special protective clothing for everyday use by humans with a constantly acting electromagnetic field in a man-made environment. Modern man is constantly in the zone of electromagnetic radiation, the influence of which cannot be avoided. Only by minimizing radiation by avoiding areas with increased electromagnetic activity and developing modern means of protection can ensure a safe and harmonious stay of a person in a modern technogenic environment of existence. If we turn to statistics and analyze the issue of the impact of electromagnetic radiation on the human body and study the problems that arise after its negative influence, we will find that almost all human systems and organs are negatively influenced with destructive consequences. This article discusses the latest developments in the field of electromagnetic waves on the human body. The most actual problems connected with work of electric transport as the technogenic environment are analyzed. The mathematical apparatus and the equation of the electromagnetic field for the electric motor are offered to create the mathematical models showing dependence of growth of an electromagnetic field depending on operating modes of the vehicle and places of stay of the passenger in vehicle interior. Еlectromagnetic radiation in the form of clothing, which will allow a comfortable and safe stay of people in a new man-made environment.

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“…Utilizing the boundedness of e(t) and r(t) in view of Assumption 2 along with (26), it is easy to prove thaṫe(t) ∈  ∞ . Boundedness of e(t),̇e(t), x d (t) andẋ d (t) can be used along with (23) and its time derivative to ensure that x(t),ẋ(t) ∈  ∞ . Utilizing r(t) ∈  ∞ and properties of the saturation function in (37),N(t) ∈  ∞ .…”

Section: Proofmentioning

confidence: 99%

“…In , a sliding mode based repetitive learning controller was designed for tracking control of robot manipulators subject to actuator saturation. Recently, in , Verrelli et al. researched several aspects of a linear repetitive learning control method where Padé approximation was made use of.…”

Section: Introductionmentioning

confidence: 99%

Learning Control of Robot Manipulators in Task Space

Dogan

Tatlıcıoğlu

Zergeroğlu

et al. 2017

Asian Journal of Control

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Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being able to utilize the robot manipulator dynamics due to uncertainties complicated the control design. In a seemingly novel departure from the existing works in the literature, the tracking problem is formulated in the task space and the control input torque is aimed to decrease the task space tracking error directly without making use of inverse kinematics at the position level. A repetitive learning controller is designed which "learns" the overall uncertainties in the robot manipulator dynamics. The stability of the closed-loop system and asymptotic end-effector tracking of a periodic desired trajectory are guaranteed via Lyapunov based analysis methods. Experiments performed on an in-house developed robot manipulator are presented to illustrate the performance and viability of the proposed controller.

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Repetitive learning position control for full order model permanent magnet step motors

Cited by 13 publications

References 26 publications

Advanced Electrical Motors and Control Strategies for High-quality Servo Systems - A Comprehensive Review

Advanced Electrical Motors and Control Strategies for High-quality Servo Systems - A Comprehensive Review

Review of Research of the Influence of the Electromagnetic Field on Human Working Work and Development of Methods of Electromagnetic Wave Screening

Learning Control of Robot Manipulators in Task Space

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