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

Authors

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.

Citation

Journal: Energies
Year: 2020
Volume: 13
Issue: 21
Pages: 5731
Publisher: MDPI AG
DOI: 10.3390/en13215731

BibTeX

@article{Liu_2020,
  title={{Smooth-Switching Control of Robot-Based Permanent-Magnet Synchronous Motors via Port-Controlled Hamiltonian and Feedback Linearization}},
  volume={13},
  ISSN={1996-1073},
  DOI={10.3390/en13215731},
  number={21},
  journal={Energies},
  publisher={MDPI AG},
  author={Liu, Anxing and Yu, Haisheng},
  year={2020},
  pages={5731}
}

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References

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