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Article
Publication date: 8 June 2022

Mitesh B. Astik, Dhruv B. Shah, Praghnesh Bhatt, Bhavesh R. Bhalja and Paresh R. Modha

The purpose of this paper is to develop a generalized observer and controller for brushless direct current (BLDC) motor to make the system more robust for parameter variations…

Abstract

Purpose

The purpose of this paper is to develop a generalized observer and controller for brushless direct current (BLDC) motor to make the system more robust for parameter variations, load torque and speed tracking.

Design/methodology/approach

A robust interconnection and damping assignment passivity-based control (IDA-PBC) technique for BLDC motor is introduced in this paper. The IDA-PBC is used to obtain the reference voltages for pulse width modulation (PWM) control. The immersion and invariance (I&I) observer is used to estimate the load torque and speed of the BLDC motor. At the time of starting, the motor rotates in arbitrary direction, and sometimes, because of the cogging action, it may take a huge current. Therefore, a new start-up method is proposed for the BLDC motor, which maintains the alignment of the rotor.

Findings

From the simulation and experimental results, it can be seen that the proposed controller and observer satisfactorily work for parameter variations, load torque and speed tracking.

Originality/value

The authenticity of the proposed technique is tested experimentally on two different BLDC motors using low-cost 32-bit STM32F407VG microcontroller. The response of the proposed technique is evaluated by changing motor parameters such as stator resistance, inductance, flux linkage constant and torque constant.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering , vol. 42 no. 2
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 19 January 2023

Xu Zou, Zhenbao Liu, Qingqing Dang and Lina Wang

This paper aims to design a global controller that is operational throughout all flight modes and less dependent on an accurate model.

Abstract

Purpose

This paper aims to design a global controller that is operational throughout all flight modes and less dependent on an accurate model.

Design/methodology/approach

By adopting the interconnection and damping assignment passivity-based control (IDA-PBC) technology and compensating extra inputs for handling the unknown dynamics and time-varying disturbances, a model-free control (MFC)-based global controller is proposed.

Findings

Test results indicate that the designed controllers are more suitable for actual flight as they have smaller position tracking errors and energy consumption in all flight phases than the excellent model-free controller intelligent-PID.

Practical implications

The designed global controller, which works in all flight modes without adjusting its structure and parameters, can realize a stable and accurate tracking control of a tail-sitter and improve the resistance to unknown disturbances and model uncertainties.

Originality/value

The newly-designed controller is considered as an enhanced version of the traditional MFC. It further improves the control effect by using the poorly known dynamics of the system and choosing the IDA-PBC as the control auxiliary input. This method eliminates the unnecessary dynamics to continuously stabilize the vehicle with suitable energy consumption covering its entire flight envelope.

Details

Aircraft Engineering and Aerospace Technology, vol. 95 no. 6
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 8 October 2018

Yiming Wu, Ning Sun, He Chen, Jianyi Zhang and Yongchun Fang

From practical perspectives and to improve the working efficiency, trolley transportation and payload hoisting/lowering should be simultaneously controlled. Moreover, in practical…

268

Abstract

Purpose

From practical perspectives and to improve the working efficiency, trolley transportation and payload hoisting/lowering should be simultaneously controlled. Moreover, in practical crane applications, the transportation time is an important criterion for improving transportation efficiency. Based on these requirements, this paper aims to solve positioning and antiswing control problems and shorten the transportation time for underactuated varying-rope-length overhead cranes.

Design/methodology/approach

By choosing trolley acceleration and varying-rope-length acceleration as system inputs, the crane system dynamic model is converted into an equivalent model without linearizing/approximating. Then, based on the converted model and system state constraints, a time-optimal problem is formulated. Further, the original problem is converted into an optimization problem with algebraic constraints which can be conveniently solved. Finally, by solving the optimization problem, the optimal trajectories of system states, including displacements, velocities and accelerations, are obtained.

Findings

This paper first provides a nonlinear time-optimal trajectory planner for varying-rope-length overhead cranes, which achieves accurate and fast trolley positioning and eliminates payload residual swings. Meanwhile, all system states satisfy the given constraints during the entire process. Hardware experimental results show that the proposed time-optimal planner is effective and has better performance compared with existing methods.

Originality/value

This paper proposes a time-optimal trajectory planner for overhead crane systems with hoisting/lowering motion. The proposed planner achieves fast trolley positioning and eliminates payload residual swing with all the system states being constrained within given scopes. The planner is presented based on the original nonlinear system dynamics without linearization/approximation.

Details

Assembly Automation, vol. 38 no. 5
Type: Research Article
ISSN: 0144-5154

Keywords

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