Reduced-Order Observer-Based Position Control of a Magnetic-Geared Servo Drive
Abstract
:1. Introduction
1.1. Essentials of Coaxial MGs
1.2. Control of Magnetic-Geared Drives: State-of-the-Art
1.3. Contribution and Overview of the Paper
- Most of the research in this field has been focusing on speed rather than position control. The latter is, however, often used, especially in servo systems such as industrial robotic manipulators and computer numerically controlled (CNC) machine tools for which high-precision positioning is of great importance.
- Magnetic-geared drives are weakly damped systems in which fast torque actuation can easily excite torsional oscillations on both rotors. Therefore, control systems for magnetic-geared drives should be carefully designed in order to suppress those oscillations and ensure their high-performance dynamic behaviour.
2. Mathematical Model of a Magnetic-Geared PMSM
2.1. Mathematical Model of a PMSM
2.2. Mathematical Model of an MG
2.2.1. Nonlinear Model of an MG
2.2.2. Linearized Model of an MG
3. Observer-Based Position Control System
3.1. Design of the State Feedback Position Controller
3.2. Design of the Reduced-Order ESO
3.3. Compensation of the Steady-State Estimation Error
4. Real-Time Implementation and Experimental Evaluation
4.1. Experimental Setup
4.2. Measurement Processing
4.3. Static Measurements
4.4. Experimental Evaluation of the Presented Position Control System
4.4.1. Experimental Results: Current Control
4.4.2. Experimental Results: Position Control (Scenario I)
4.4.3. Experimental Results: Position Control (Scenario II)
5. Simulation-Based Robustness Analysis
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
Appendix A
Appendix B
Physical Quantity | Value | Unit |
---|---|---|
13.45 | V | |
9.30 | A | |
22,644 | rpm |
Physical Quantity | Value | Unit |
---|---|---|
0.0650 | Ω | |
d- | 2.56 × 10−5 | H |
q- | 2.94 × 10−5 | H |
0.0073 | V·s | |
1 | - |
Physical Quantity | Value | Unit |
---|---|---|
0.07 | Ω | |
29.3 × 10−5 | H |
Physical Quantity | Value | Unit |
---|---|---|
2.489 | N·m | |
1 | - | |
1.3186 × 10−5 | kg·m2 | |
3.2930 × 10−6 | N·m·s | |
18 | - | |
1.3437 × 10−5 | kg·m2 | |
2.7380 × 10−4 | kg·m2 | |
2.2797 × 10−4 | N·m·s |
Appendix C
Torque Angle, (°) | 0 | 11.08 | 20.58 | 30.05 | 39.60 | 50.63 | 60.10 | 69.60 | 80.70 | 89.40 |
Transmitted torque, (N·m) | 0.081 | 0.479 | 0.812 | 1.138 | 1.430 | 1.778 | 2.030 | 2.220 | 2.402 | 2.489 |
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Controller | ||
---|---|---|
d-axis current controller | 0.9559 | 405 |
q-axis current controller | 0.9673 | 405 |
Gain | |||||
---|---|---|---|---|---|
Value | 0.0049 | 0.0532 | −0.0662 | −0.3340 | 6.1471 |
Gain | |||
---|---|---|---|
Value | 0.8656 | 0.0042 | −0.0974 |
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Verbanac, N.; Jungmayr, G.; Marth, E.; Bulić, N. Reduced-Order Observer-Based Position Control of a Magnetic-Geared Servo Drive. Actuators 2024, 13, 6. https://doi.org/10.3390/act13010006
Verbanac N, Jungmayr G, Marth E, Bulić N. Reduced-Order Observer-Based Position Control of a Magnetic-Geared Servo Drive. Actuators. 2024; 13(1):6. https://doi.org/10.3390/act13010006
Chicago/Turabian StyleVerbanac, Nardi, Gerald Jungmayr, Edmund Marth, and Neven Bulić. 2024. "Reduced-Order Observer-Based Position Control of a Magnetic-Geared Servo Drive" Actuators 13, no. 1: 6. https://doi.org/10.3390/act13010006