Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control
This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design a...
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| Published in | Control engineering practice Vol. 65; pp. 36 - 47 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.08.2017
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0967-0661 1873-6939 |
| DOI | 10.1016/j.conengprac.2017.05.004 |
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| Abstract | This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design approach are pointed out at the example of a robust position control of a Permanent Magnet Synchronous Motor (PMSM), which is subject to uncertain model parameters. The paper is concluded with convincing experimental results from a dedicated test rig. Moreover, a comparison with a classical observer-based tracking control is provided.
•ILC based on a linear repetitive process using guaranteed cost control.•Robustness by LMI techniques within a polytopic framework.•Innovative combination of ILC with dynamic feedforward and disturbance estimation.•Maximum and RMS tracking errors in early learning phases are significantly reduced.•Application to the accurate position control of PMSMs with successful validation. |
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| AbstractList | This contribution presents a robust ILC control design based on guaranteed costs. By combining this ILC design with dynamic feedforward control and an observer-based disturbance compensation, the initial tracking errors in an early learning stage can be reduced. The benefits of the proposed design approach are pointed out at the example of a robust position control of a Permanent Magnet Synchronous Motor (PMSM), which is subject to uncertain model parameters. The paper is concluded with convincing experimental results from a dedicated test rig. Moreover, a comparison with a classical observer-based tracking control is provided.
•ILC based on a linear repetitive process using guaranteed cost control.•Robustness by LMI techniques within a polytopic framework.•Innovative combination of ILC with dynamic feedforward and disturbance estimation.•Maximum and RMS tracking errors in early learning phases are significantly reduced.•Application to the accurate position control of PMSMs with successful validation. |
| Author | Aschemann, Harald Galkowski, Krzysztof Mandra, Slawomir |
| Author_xml | – sequence: 1 givenname: Slawomir surname: Mandra fullname: Mandra, Slawomir email: manslaw@fizyka.umk.pl organization: Institute of Physics, Faculty of Physics, Astronomy and Informatics, Nicolaus Copernicus University, Grudziadzka 5, 87-100 Torun, Poland – sequence: 2 givenname: Krzysztof surname: Galkowski fullname: Galkowski, Krzysztof email: K.Galkowski@issi.uz.zgora.pl organization: Institute of Physics, Faculty of Physics, Astronomy and Informatics, Nicolaus Copernicus University, Grudziadzka 5, 87-100 Torun, Poland – sequence: 3 givenname: Harald surname: Aschemann fullname: Aschemann, Harald email: Harald.Aschemann@uni-rostock.de organization: Chair of Mechatronics, University of Rostock, Justus-von-Liebig-Weg 6, D-18059 Rostock, Germany |
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| Cites_doi | 10.1109/ICCCI.2013.6466111 10.1002/rob.4620010203 10.5755/j01.eee.20.3.2788 10.1109/9.317138 10.1115/1.3143822 10.5755/j01.eee.21.2.11507 10.1016/j.laa.2005.01.037 10.1109/ACC.2012.6314641 10.1109/MCS.2006.1636313 10.1109/ISIE.2011.5984237 10.1016/j.automatica.2013.01.014 10.1109/TPEL.2003.820537 10.1016/j.conengprac.2009.12.003 10.1109/TCSII.2004.836057 10.1080/10556789908805762 10.1016/j.sysconle.2013.11.002 10.1109/CACSD.2004.1393890 10.1109/9.186321 10.1007/BFb0110114 10.1109/NDS.2015.7332639 10.1109/TSMCC.2007.905759 |
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| Keywords | Guaranteed cost control Disturbance observer Permanent magnet synchronous motor Model uncertainty Discrete linear repetitive process Iterative learning control |
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| SubjectTerms | Discrete linear repetitive process Disturbance observer Guaranteed cost control Iterative learning control Model uncertainty Permanent magnet synchronous motor |
| Title | Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control |
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