IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v13y2020i21p5731-d438858.html
   My bibliography  Save this article

Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization

Author

Listed:
  • Anxing Liu

    (College of Automation, Qingdao University, Qingdao 266071, China)

  • Haisheng Yu

    (College of Automation, Qingdao University, Qingdao 266071, China)

Abstract

To solve the contradiction between dynamic performance and steady-state performance of the robot system, a smooth-switching control strategy is proposed. By combining robot and motor model, the complete model of the robot driving system is established. The single-loop Feedback Linearization (FL) controller and Port-Controlled Hamiltonian (PCH) controller based on the complete model are derived to ensure the rapidity and stability of the system respectively. A smooth-switching function based on position error is designed. It can ensure the smooth-switching between two controllers and avoid the instability caused by switch-switching. The proposed algorithm can make the robot system have good dynamic and steady performance. Simulation and experiment results demonstrate the effectiveness of the smooth-switch control strategy.

Suggested Citation

  • Anxing Liu & Haisheng Yu, 2020. "Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization," Energies, MDPI, vol. 13(21), pages 1-16, November.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:21:p:5731-:d:438858
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/13/21/5731/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/1996-1073/13/21/5731/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Chuanguang Chen & Haisheng Yu & Fei Gong & Herong Wu, 2020. "Induction Motor Adaptive Backstepping Control and Efficiency Optimization Based on Load Observer," Energies, MDPI, vol. 13(14), pages 1-16, July.
    2. Yina Wang & Wenqiu Xiong & Junyou Yang & Yinlai Jiang & Shuoyu Wang, 2019. "A Robust Feedback Path Tracking Control Algorithm for an Indoor Carrier Robot Considering Energy Optimization," Energies, MDPI, vol. 12(10), pages 1-23, May.
    3. Xiangxiang Meng & Haisheng Yu & Herong Wu & Tao Xu, 2020. "Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-22, January.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Yujiao Zhao & Haisheng Yu & Shixian Wang, 2021. "An Improved Super-Twisting High-Order Sliding Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motor," Energies, MDPI, vol. 14(19), pages 1-18, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Ming-Fa Tsai & Chung-Shi Tseng & Po-Jen Cheng, 2021. "Implementation of an FPGA-Based Current Control and SVPWM ASIC with Asymmetric Five-Segment Switching Scheme for AC Motor Drives," Energies, MDPI, vol. 14(5), pages 1-23, March.
    2. Elzbieta Szychta & Leszek Szychta, 2021. "Collective Losses of Low Power Cage Induction Motors—A New Approach," Energies, MDPI, vol. 14(6), pages 1-19, March.
    3. Mohammad Mohammadpour & Lotfi Zeghmi & Sousso Kelouwani & Marc-André Gaudreau & Ali Amamou & Massinissa Graba, 2021. "An Investigation into the Energy-Efficient Motion of Autonomous Wheeled Mobile Robots," Energies, MDPI, vol. 14(12), pages 1-19, June.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:13:y:2020:i:21:p:5731-:d:438858. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.