Basic Control Engineering Prof. Wonhee Kim · Basic Control Engineering Prof. Wonhee Kim Examples...

15
Basic Control Engineering Prof. Wonhee Kim Examples for Control Systems

Transcript of Basic Control Engineering Prof. Wonhee Kim · Basic Control Engineering Prof. Wonhee Kim Examples...

Basic Control Engineering

Prof. Wonhee Kim

Examples for Control Systems

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Contents

Stepper Motor

Electro Hydraulic System

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Contents

Stepper Motor

Electro Hydraulic System

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Permanent Magnet Stepper Moto

• θ: rotor (angular) position (in radians)

• ω: rotor (angular) velocity

• ia , ib: current inputs in phase A and B

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Controller DesignControl goal

- Improvement of position tracking performance

Feedforwad term

PID control part

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Block Diagram for Control Systems

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Experimental Setup

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Experimental Results

Position

reference

Conventional

method

Proposed

method

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Contents

Stepper Motor

Electro Hydraulic System

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Electro Hydraulic Systems

x1 : position of the piston [m]

x2: velocity of the piston [m/s]

x3: pressure difference between the

chamber A and B [Pa]

u: current input [mA]

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Electro Hydraulic Systems

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Controller DesignControl goal

- Position tracking under unknown disturbance

- Disturbance observer (DOB) for disturbance estimation

- Controller for boundary condition of position tracking error

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Block Diagram for Control Systems

EHS

x1, x2, x3u

DOB

Controller

Estimations

of d1, d2

Microprocessor Actual system

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Experimental Setup

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Experimental Results

Position

reference

Conventional

method

Proposed

method

Boundary

condition for error