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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Qiu, Yanan Dai, Zhiyong Chen, Yangquan Liang, Xiaogeng |
| Copyright Year | 2015 |
| Abstract | In this paper, based on the Asymmetric Barrier Lyapunov Function (ABLF), we firstly develop a backstepping Dynamic Surface Control (DSC) scheme for position constraint control of Brushless DC Motors with a new fractional torque observer technique for friction compensation. The fractional compensator is used to estimate the unknown friction torque and guarantees its convergence with zero steady error. The DSC is introduced to eliminate the repeated differentiations involved in ABLF synthesis and to decrease the negative effects from produced disturbance noise in Brushless DC Motors. Finally, we demonstrate that the proposed control scheme could guarantee output constraints within limit ranges and also ensure prescribed tracking error within a neighborhood of 0. A fractional horsepower dynamometer was developed as a Hardware-In-the-Loop platform to emulate the position tracking of Brushless DC motors and Coulomb friction as a mechanical nonlinearity. Comparison experiment studies illustrate that the proposed controller has a favorable performance bounded within constraints and achieves fast convergence. Furthermore, the new method has a better ability of noise rejection. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| File Format | |
| ISBN | 9780791857199 |
| DOI | 10.1115/DETC2015-47508 |
| Volume Number | Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications |
| Conference Proceedings | ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2015-08-02 |
| Publisher Place | Boston, Massachusetts, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Noise (sound) Errors Torque Friction Horsepower Control equipment Motors Dynamometers Hardware Coulombs |
| Content Type | Text |
| Resource Type | Article |
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