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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
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    References listed on IDEAS

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    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.
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    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.

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