To design high-performance miniscale servomechanisms and drives it becomes necessary to solve a number of software- and hardware-oriented problems. To significantly simplify the hardware solution, miniscale electric machines are controlled using power amplifiers and controllers which are designed and fabricated as the monolithic integrated circuit (IC) drivers. In general, there are situations in which a single control input (duty ratio) is determined as the combination of performance variables based upon energy conversion principles and operating features. There is the multiplicity of control quantities and signals at the electric machines, power amplifiers, signal processing, and control levels. Nevertheless, the control inputs determine the closed-loop system performance. The fundamental difficulties encountered in servo-systems design are implicit due to control constraints, states and outputs bounds, nonlinearities, parameter variations, unmodeled dynamics, disturbances, noise, and other phenomena. The objectives of this paper are to design closed-loop miniscale servomechanisms, compare different control algorithms, perform assessment analysis, and validate the results. The problems to be solved are very challenging because a number of long-standing issues in modeling, control, analysis, stability, robustness, and hardware-software co-design must be solved. The major emphasizes are placed in the analysis and design of robust miniscale servomechanism as well as performance analysis and optimization. We synthesize and verify proportional-integral-derivative (PID), linear quadratic, relay, and sliding mode tracking controllers. It is illustrated that the sliding mode controllers with soft switching guarantee superior performance (efficiency, robustness, fast response, robustness, disturbance attenuation, etc.).
Dynamic performance of miniscale servomechanisms with mini servo-motors controlled by IC drivers in automotive applications
American Control Conference, 2001 ; 5010-5015
2001
6 Seiten, 5 Quellen
Conference paper
English
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