Search

This paper is concerned with velocity control in a permanent magnet synchronous motor (PMSM) when it is fed by an inverter-DC/DC Buck power converter system as power amplifier. We present, for the first time, a formal local asymptotic stability proof to solve this control problem. We stress that this is the first time that this problem is solved for an AC motor. Our control scheme is simple when compared to differential flatness- and backsteping-based proposals in the literature to solve this problem for DC motors. The key for these achievements is the employment of a novel passivity-based approach which takes advantage of the natural energy exchange among the electrical and mechanical subsystems that compose the inverter-DC/DC Buck power converter-PMSM system. The main features of this novel passivity-based approach are summarized in this paper.

By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure, the medium level includes two controls based on differential flatness for the actuators, and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.

Different educational and didactic papers that allow students to experimentally validate linear controllers have been reported. However, generally, in those papers, procedure followed to select controller gains is not discussed. This lack of information renders difficult experimental implementation of controllers by students who, in general, do not have enough experience on controller tuning. Motivated by this situation, this paper introduces a methodology that provides important information on how to select controller gains for regulation in a Furuta pendulum. This methodology allows improving closed-loop system performance in a desired direction. Differential flatness is the Furuta pendulum property that is exploited. The main idea is to translate a linear state feedback control design problem into a scenario, where classical tools such as root locus can be used. As an example, controller design is directed toward reduction or even elimination of limit cycle effects. The proposal is experimentally tested on a built Furuta pendulum. These experimental results show that the closed-loop system performance is improved, and hence, the proposed methodology is successfully validated.

Two differential flatness-based bidirectional tracking robust controls for a DC/DC Buck converter-DC motor system are designed. To achieve such a bidirectional tracking, an inverter is used in the system. First control considers the complete dynamics of the system, that is, it considers the DC/DC Buck converter-inverter-DC motor connection as a whole. Whereas the second separates the dynamics of the Buck converter from the one of the inverter-DC motor, so that a hierarchical controller is generated. The experimental implementation of both controls is performed via MATLAB-Simulink and a DS1104 board in a built prototype of the DC/DC Buck converter-inverter-DC motor connection. Controls show a good performance even when system parameters are subjected to abrupt uncertainties. Thus, robustness of such controls is verified.

In this paper a smooth starter, based on a dc/dc Buck power converter, for the angular velocity trajectory tracking task of a dc permanent magnet motor is presented. To this end, a hierarchical controller is designed, which is integrated by a control associated with the dc motor based on differential flatness at the high level, and a control related with the dc/dc Buck converter based on a cascade control scheme at the low level. The control at the high level allows the dc motor angular velocity to track a desired trajectory and also provides the desired voltage profile that must be tracked by the output voltage of the dc/dc Buck power converter. In order to assure the latter, a cascade control at the low level is designed, considering a sliding mode control for the inner current loop and a proportional-integral control for the outer voltage loop. The hierarchical controller is tested through experiments using MATLAB-Simulink and the DS1104 board from dSPACE. The obtained results show that the desired angular velocity trajectory is well tracked under abrupt variations in the system parameters and that the controller is robust in such operation conditions, confirming the validity of the proposed controller.

In this paper, alternative mathematical models for the DC/DC Buck-Boost converter are developed. In order to obtain the alternative models, the differential flatness property of the converter is exploited. The validation of such models is carried out via the comparison of simulations of the model commonly employed versus the ones of the herein presented alternative models and the circuit of the converter. The simulations show that the dynamic evolution of the proposed alternative models is very similar to that of the commonly employed model for the Buck-Boost converter.

In this paper, via a passive control, the regulation task of the DC/DC Buck-Boost converterinverterDC motor system is solved. Such a control, on the one hand, takes advantage of the energetic structure associated with the error dynamics of the system. On the other hand, it does not require the use of electromechanical sensors to control the angular velocity of the motor. The control performance is verified through numerical simulations, with Matlab-Simulink, in two directions: i) The control is introduced in the mathematical model associated with the system under study. ii) The control, implemented via PWM, is introduced in the corresponding electronic circuit. The results of simulation in closed-loop, in average, show much similarity to each other; which shows the viability of the control for its experimental implementation.

The modeling and simulation of the “full-bridge Buck inverterDC motor” system, is presented for the first time in this paper. The converter used in this arrangement allows a smooth start and bidirectional motion at the shaft of the DC motor. The Kirchhoff's laws and the DC motor model are used to obtain the mathematical model of the system. With the intention of validating the model of the system under study, the simulation results of the mathematical model are compared versus the ones of the corresponding electrical circuit. Both simulations are performed with Matlab-Simulink. The similar behavior between both results allow validating the mathematical model herein proposed.

The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ–Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

In this paper the new topology DC/DC Boost power converter-inverter-DC motor that allows bidirectional rotation of the motor shaft is presented. In this direction, the system mathematical model is developed considering its different operation modes. Afterwards, the model validation is performed via numerical simulations by using Matlab-Simulink.

This paper presents for the first time, the modeling and simulation of a bidirectional DC/DC Buck-Boost converter-DC motor system. This configuration allows the motor shaft to rotate in both directions. The mathematical model is obtained by applying the Kirchhoff's laws in each of the operating modes of the system, whereas the simulation results are obtained using Matlab-Simulink. The results show the validation of the mathematical model of the system under study.

When designing controllers based on the average model of DC/DC converters, a modulator is necessary to appropriately govern the converter switch. Thus, in this paper, the switched implementation via either a Pulse Width Modulator or a Sigma-Delta-modulator of an average flatness-based controller for a DC/DC Boost converter is shown. This controller allows the converter output voltage to perform the trajectory tracking task. In order to quantify which modulator is better for that task, the aforementioned implementations are quantified using the Integral of Squared Error index. The results herein presented are carried out through numerical simulations with Matlab-Simulink.

This paper presents the design of an average controller based on differential flatness for a DC/DC Boost power converter. This controller allows the system output voltage to perform the trajectory tracking task. When designing control laws based on the average model of switched systems a modulator is necessary to appropriately govern the converter switch. Thus, the switched implementation of the designed flatness-based controller for the Boost converter is carried out by using a ∑-Δ-modulator. The performance of the controller herein presented is verified through numerical simulations with Matlab-Simulink.

This paper presents a Furuta pendulum as a test-bed to experimentally validate automatic control strategies or theoretical concepts associated with nonlinear systems. Herein, the modeling, simulation, and construction of a Furuta pendulum test-bed are introduced step-by-step. The development of the Furuta pendulum mathematical model is achieved by using Lagrange equations of motion. In contrast with other works, the development of this model includes an analysis of the system kinematics. Also, a numerical simulation of the mathematical model is performed via Matlab-Simulink. Furthermore, with the purpose of presenting a different tool for the modeling and simulation of dynamic systems, a graphical model and a graphical simulation of the Furuta pendulum are carried out by means of Working Model 3D. Moreover, a computer aided design of the system under study is accomplished through SolidWorks, based on such a design a test-bed is built. With the intention of verifying that the test-bed built behaves according to the models (numerical one and graphical one) presented herein, experiments with the test-bed in open-loop are carried out by using Matlab-Simulink, ControlDesk, and a DS1104 board from dSPACE.

This paper presents the detailed deduction of an inertia wheel pendulum (IWP) mathematical model, through the Lagrange equations of motion. Also, a mechanical design and the construction of the IWP are introduced step by step. This with the purpose of providing a material that can be useful in the easy comprehension of an IWP mathematical model and to accomplish the construction of an IWP in a relatively short time. The mechanical design is carried out by using the software Solid Works. Moreover, numerical simulations of the deduced mathematical model are performed via Mat lab-Simulink. Furthermore, in order to verify that the IWP built behaves according to the mathematical model herein deduced, experimental tests are carried out by using such an IWP, Mat lab-Simulink, Control Desk, and a DS1104 board from d SPACE.

In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software Solid Works and subsequently a prototype is built. Numerical simulations of the Furuta pendulum model are performed via Mat lab-Simulink. Furthermore, the Furuta pendulum prototype built is experimentally tested by using Mat lab-Simulink, Control Desk, and a DS1104 board from dSPACE.