Control of a Reduced Size Model of US Navy Crane Using Only Motor Position Sensors
نویسندگان
چکیده
Two control problems related to a particular underactuated mechanical system, the reduced size US Navy crane, are addressed. The open-loop motion planning problem is solved by showing that the model of the crane is differentially flat with a flat output comprising the coordinates of the load as its first components. The closed-loop global asymptotic stabilization of equilibria is achieved using an output feedback regulator of proportional-derivative type. The extension of this approach to tracking is analyzed based on simulation results.
منابع مشابه
Torque Ripple Reduction of Electrolytic Capacitor-less BLDC Motor Drive
Brushless DC motors called BLDC are used in many industrial and non-industrial applications today for reasons such as very high efficiency, easy control method and high reliability, and their use is increasingly used in mass production applications, especially home appliances. But these motors require the use of an electric drive, even in constant speed applications. Commercialization of these ...
متن کاملPosition Control Improvement of Permanent Magnet Motor Using Model Predictive Control
Fast and accurate transient response is the main requirement in electric machine position control. Conventional cascade control structure has sluggish response due to the limitation of inner control loop bandwidth. In this paper, in order to decrease the Permanent Magnet Synchronous Motor (PMSM) transient response time it can be used reference model using feed-forward signals. In this structure...
متن کاملUsing an Appropriate Controller for Independent Current Control for Motoring of Force Windings of Bearing less Induction Motor
A bearingless induction machine has combined characteristics of induction motor and magnetic bearings. Therefore, the advantages are small size and low-cost. In the magnetic suspension of the bearingless motors, suspension forces are generated based on the feedback signals of displacement sensors detecting the movement of the rotor shaft. The suspension forces are generated taking an advantage ...
متن کاملA Low Cost Sensorless Control Drive Circuit for of Low Voltage Switched Reluctance Motor
Shaft position sensing is an essential part of switched reluctance (SR) motor drive In order to synchronize the pulses of phase current with the period of rising inductance of the proper motor phase. Direct sensors such as, Hall effect and optical encoder are commonly used in SR motors. The purpose of this paper is to present an indirect shaft positioning sensing known as "sensorless " control ...
متن کاملRobust Adaptive Fuzzy Sliding Mode Control of Permanent Magnet Stepper Motor with Unknown Parameters and Load Torque
In this paper, robust adaptive fuzzy sliding mode control is designed to control the Permanent Magnet (PM) stepper motor in the presence of model uncertainties and disturbances. In doing so, the nonlinear model is converted to canonical form, then, for designing the controller, the robust sliding mode control is designed to decrease the effects of uncertainties and disturbances. A class of fuzz...
متن کامل