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Position control of a DC motor system for tracking periodic reference inputs in a data driven paradigm

机译：直流电动机系统的位置控制，用于跟踪数据驱动范例中的周期性参考输入

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摘要

Control techniques over the decades have evolved from the various aspects of Model-Based Control (MBC) to Data Driven Control (DDC). In stark contrast to the model based paradigm which is targeted at addressing the fundamental physics driving the system and intends to freely determine the process transfer function. The data-driven approach instead connotes to ascertaining the process parameters of a system, void of a specified architecture by measuring the input and output data. The present investigation targets a validatory execution of a simple feedback DDC architecture on the position control of a DC motor module. The input-output data obtained from an onboard potentiometer is logged to the host PC using a low cost acquisition set-up and the corresponding model structure is identified using Matlab System Identification Toolbox. Based on the identified plant model, an appropriately tuned PID scheme is proposed that can represent the original hardware response with acceptable fidelity. The ability of the proposed control scheme is augmented by the introduction of standard repetitive control strategy in order to reduce Steady-State tracking errors of the system while negotiating periodic inputs. The experimental results demonstrate the effectiveness of the proposed scheme in offering a highly accurate asymptotic tracking ability.
机译：几十年来，控制技术已经从基于模型的控制（MBC）的各个方面发展到了数据驱动控制（DDC）。与基于模型的范式形成鲜明对比，该范式旨在解决驱动系统的基本物理问题，并旨在自由确定过程传递函数。数据驱动方法反而意味着通过测量输入和输出数据来确定系统的过程参数，而没有指定的体系结构。本研究的目标是在直流电动机模块的位置控制上有效执行简单的反馈DDC架构。从板载电位器获得的输入输出数据使用低成本采集设置记录到主机PC，并使用Matlab系统识别工具箱识别相应的模型结构。基于已识别的工厂模型，提出了一种经过适当调整的PID方案，该方案可以用可接受的保真度表示原始硬件响应。通过引入标准的重复控制策略来增强所提出的控制方案的能力，以便在协商周期性输入的同时减少系统的稳态跟踪误差。实验结果证明了该方案在提供高精度的渐近跟踪能力方面的有效性。

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  • 来源
    《》|2016年|17-21|共5页
  • 会议地点 Kolkata(IN)
  • 作者

    Siladitya Khan; Avishek Paul; Tanmoy Sil; Arnab Basu; Rishikesh Tiwari; Saroni Mukherjee; Ujjwal Mondal; Anindita Sengupta;

  • 作者单位

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Electronics Instrumentation Engineering, RCC Institute of Information Technology, Kolkata. Canal (S) Road, Beliaghata, Kolkata 700015 West Bengal, India;

    Department of Applied Physics, UCSTA University of Calcutta 92, APC Road, Kolkata 700009 West Bengal, India;

    Department of Electrical Engineering, IIEST, Shibpur Shibpur, Howrah 711103 West Bengal, India;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Mathematical model; DC motors; Autoregressive processes; Data models; Shafts; Position control; MATLAB;

    机译：数学模型;直流电动机;自回归过程;数据模型;轴;位置控制; MATLAB;

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