Design of high performance DC motor actuated cable driving system for compact devices

Q2 Energy

International Journal of Power Electronics and Drive Systems Pub Date : 2020-12-01 DOI:10.11591/IJPEDS.V11.I2.PP580-593

Chawaphol Direkwatana, J. Suthakorn

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引用次数: 2

Abstract

In this study, different precise and appropriate control mechanisms for speed and steering control of a robot with mobile movement that use a Direct Current motor, have been simulated for improved controllers’ response. Proportional-Integral-Derivative (PID), Lead-Lag compensator, and Fuzzy Logic Controller (FLC) are designed as well as simulated to provide command over the angular speed of a Direct Current motor mounted in the robot. The response of the Direct Current motor for every controller is observed and compared among each other for a sinusoidal and a step input which indicate speed as well as position respectively of mobile robot. The performance analysis indicates that the Lead-Lag compensator and PID controller can be considered effective for the task assigned for steering the wheel and Fuzzy Logic Controller (FLC) is efficient for wheel speed controlling. Considering the overall improved performance of the mobile robot in terms of precision of speed control as well as steering capability, it seems reasonable to conclude that the proposed design criteria were effective and satisfactory.

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小型设备用高性能直流电机驱动电缆驱动系统的设计

在本研究中，为了提高控制器的响应，模拟了使用直流电机的移动机器人的速度和转向控制的不同精确和适当的控制机制。设计并仿真了比例积分导数(PID)、超前滞后补偿器和模糊逻辑控制器(FLC)，以控制安装在机器人上的直流电机的角速度。观察了直流电机对每个控制器的响应，并比较了正弦输入和阶跃输入分别表示移动机器人的速度和位置。性能分析表明，超前滞后补偿器和PID控制器可以有效地完成方向盘分配的任务，模糊逻辑控制器(FLC)可以有效地控制车轮速度。考虑到移动机器人在速度控制精度和转向能力方面的整体性能提高，似乎有理由得出结论，提出的设计准则是有效和令人满意的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Power Electronics and Drive Systems Energy-Energy Engineering and Power Technology

CiteScore

3.50

自引率

0.00%

发文量

期刊介绍： International Journal of Power Electronics and Drive Systems (IJPEDS) is the official publication of the Institute of Advanced Engineering and Science (IAES). The journal is open to submission from scholars and experts in the wide areas of power electronics and electrical drive systems from the global world. The scope of the journal includes all issues in the field of Power Electronics and drive systems. Included are techniques for advanced power semiconductor devices, control in power electronics, low and high power converters (inverters, converters, controlled and uncontrolled rectifiers), Control algorithms and techniques applied to power electronics, electromagnetic and thermal performance of electronic power converters and inverters, power quality and utility applications, renewable energy, electric machines, modelling, simulation, analysis, design and implementations of the application of power circuit components (power semiconductors, inductors, high frequency transformers, capacitors), EMI/EMC considerations, power devices and components, sensors, integration and packaging, applications in motor drives, wind energy systems, solar, battery chargers, UPS and hybrid systems and other applications.