Identification and control of the motor-drive servo turntable with the switched friction model

In this study, the identification and control scheme of the motor-drive servo turntable are researched to achieve accurate tracking. Firstly, the input–output identification experiments are designed and realised for the global model of motor-drive servo turntable. The order of the global controlled...

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Vydáno v:IET electric power applications Ročník 14; číslo 5; s. 843 - 849
Hlavní autoři: Zhang, Qian, Wang, Qunjing, Ninghao, Cui
Médium: Journal Article
Jazyk:angličtina
Vydáno: The Institution of Engineering and Technology 01.05.2020
Témata:
composite control strategy
control system synthesis
friction
fuzzy set theory
global controlled autoregressive model
input–output identification experiments
least squares approximations
motor‐drive servo turntable
observers
parameter estimation
parameter identification
particle swarm optimisation
position control
proportional–integral–derivative controller
Research Article
search problems
servomechanisms
servomotors
switched friction model
three‐term control
vehicle dynamics
three-term control
least squares approximations
particle swarm optimisation
switched friction model
fuzzy set theory
proportional–integral–derivative controller
global controlled autoregressive model
motor-drive servo turntable
vehicle dynamics
control system synthesis
friction
servomechanisms
composite control strategy
servomotors
parameter estimation
position control
search problems
observers
input–output identification experiments
parameter identification
ISSN:1751-8660, 1751-8679, 1751-8679
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Popis
Shrnutí:In this study, the identification and control scheme of the motor-drive servo turntable are researched to achieve accurate tracking. Firstly, the input–output identification experiments are designed and realised for the global model of motor-drive servo turntable. The order of the global controlled auto-regressive model is determined by the Akaike information criterion, and the parameters are estimated by a particle swarm optimisation-cuckoo search algorithm. Secondly, the switched friction model is built combining the LuGre structure and the Stribeck curve. The switching conditions and the parameters of the switched friction model are determined though the input–output and the friction experiments. A constrained multi-objective optimisation problem is constructed for the parameter identification of the switched friction model. It is solved via a fuzzy comprehensive evaluation. Finally, the composite control strategy, in which the proportional–integral–derivative controller and model-based friction observer are combined, is proposed in the azimuth angle system of the motor-drive servo turntable. The trajectory tracking results in simulation and experiment illustrate the effectiveness of the proposed switched model, identification method, and composite control strategy.
ISSN:1751-8660
1751-8679
1751-8679
DOI:10.1049/iet-epa.2019.0568