Design of optimal-robust control of step motors with partially unknown parameters and disturbances

Q3 Physics and Astronomy

Cybernetics and Physics Pub Date : 2023-06-30 DOI:10.35470/2226-4116-2023-12-1-23-27

I. Furtat, Y. Zhukov, S. Matveev

引用次数: 0

Abstract

The paper describes the design of a novel control law for step motor under participially unknown parameters and bounded external disturbances. The unknown parameters and disturbances are related to the motor torque, the rotor moment of inertia, the viscous friction, the resistance and the load torque. The design of a novel control law is based on feedback linearization and linear robust control. The gain of a linear control law is calculated by solving the linear matrix inequality and some optimization problems. The simulations illustrate the efficiency of the proposed scheme in comparison with classical PID-controller and adaptive control law.

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具有部分未知参数和扰动的步进电机最优鲁棒控制设计

本文设计了一种新的步进电机在部分未知参数和有界外部干扰下的控制律。未知参数和扰动与电机转矩、转子转动惯量、粘性摩擦、阻力和负载转矩有关。设计了一种基于反馈线性化和线性鲁棒控制的新型控制律。通过求解线性矩阵不等式和一些优化问题，计算线性控制律的增益。仿真结果表明，与传统pid控制器和自适应控制律相比，该方法具有较好的控制效果。

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

Cybernetics and Physics Chemical Engineering-Fluid Flow and Transfer Processes

CiteScore

1.70

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： The scope of the journal includes: -Nonlinear dynamics and control -Complexity and self-organization -Control of oscillations -Control of chaos and bifurcations -Control in thermodynamics -Control of flows and turbulence -Information Physics -Cyber-physical systems -Modeling and identification of physical systems -Quantum information and control -Analysis and control of complex networks -Synchronization of systems and networks -Control of mechanical and micromechanical systems -Dynamics and control of plasma, beams, lasers, nanostructures -Applications of cybernetic methods in chemistry, biology, other natural sciences The papers in cybernetics with physical flavor as well as the papers in physics with cybernetic flavor are welcome. Cybernetics is assumed to include, in addition to control, such areas as estimation, filtering, optimization, identification, information theory, pattern recognition and other related areas.