NDLI: Design of motor controller based on system identification

Content Provider	IEEE Xplore Digital Library
Author	Tang, Aolin Cao, Qixin
Copyright Year	2010
Description	Author affiliation: Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai China (Tang, Aolin) \|\| State Key Laboratory of the Mechanical System and, Vibration, Shanghai Jiao Tong University, Shanghai China (Cao, Qixin)
Abstract	The MCMs (Motion Control Modules) are the basic components in a robot system. Only with excellent MCMs, could the robot implement its control strategies fast and accurately. Traditionally, empirical method or method of mathematical physics modeling is used, the former needs a lot of experiments to get an optimal result; the latter obtains the model of object at first, then design a controller based on this model, in this way, a better quality controller can be obtained compared with using the empirical method. But it requires accurate parameters to obtain an accurate model. Sometimes some parameters of the motor may be unknown, or inaccurate. Then it is impossible, a controller to obtain through this method. While using the system identification method, from the step response curve the exact model of the object can be obtained easily. Then, a controller can be easily designed. In this method, two kinds of MCMs are designed in this article, position-loop and velocity-loop motor motion controller. The results show that using this method, the design process is simplified and convenient and the result meets the needs of accuracy.
Starting Page	3363
Ending Page	3368
File Size	332304
Page Count	6
File Format	PDF
ISBN	9781424476428
e-ISBN	9784907764364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Transfer functions Mathematical model Laplace equations Accuracy Mobile robots System identification System Identification Motion Control Module Step Response Curve
Content Type	Text
Resource Type	Article

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