Advanced nonlinear control for electrical drive systems

The research project focuses on the development of advanced controllers for single and multi-dimensional servomechanisms to enhance their robustness to parameter disturbances, dynamic nonlinearities and load variations. Servomechanisms are always assumed and identified as linear systems. Friction...

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Main Author: Wang, Youyi
Other Authors: School of Electrical and Electronic Engineering
Format: Research Report
Language:English
Published: 2008
Subjects:
Online Access:http://hdl.handle.net/10356/14520
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-145202023-03-04T03:22:02Z Advanced nonlinear control for electrical drive systems Wang, Youyi School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering The research project focuses on the development of advanced controllers for single and multi-dimensional servomechanisms to enhance their robustness to parameter disturbances, dynamic nonlinearities and load variations. Servomechanisms are always assumed and identified as linear systems. Friction in the system is often simplified and represented as a constant plus linear damping term in previous work. Nevertheless, highly nonlinear friction is present and it can be vital for the performance of such systems. Friction compensation technique which is usually used as a part of control scheme is firstly introduced in system identification process in the report. Moreover, the Kalman filter based radial basis function (RBF) network is designed to fit and compensate the nonlinear friction in servomechanisms. The servomechanism with nonlinear friction compensation approximates a linear system to a great extent. The proposed compensation method is simple to be applied to the servomechanisms. Compared with the math model based friction fitting method, the RBF network realizes a much better fitting error result. Correspondingly, the identified linear system model is very close to the measured frequency response data as well. 2008-11-26T08:37:24Z 2008-11-26T08:37:24Z 2007 2007 Research Report http://hdl.handle.net/10356/14520 en 218 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Wang, Youyi
Advanced nonlinear control for electrical drive systems
description The research project focuses on the development of advanced controllers for single and multi-dimensional servomechanisms to enhance their robustness to parameter disturbances, dynamic nonlinearities and load variations. Servomechanisms are always assumed and identified as linear systems. Friction in the system is often simplified and represented as a constant plus linear damping term in previous work. Nevertheless, highly nonlinear friction is present and it can be vital for the performance of such systems. Friction compensation technique which is usually used as a part of control scheme is firstly introduced in system identification process in the report. Moreover, the Kalman filter based radial basis function (RBF) network is designed to fit and compensate the nonlinear friction in servomechanisms. The servomechanism with nonlinear friction compensation approximates a linear system to a great extent. The proposed compensation method is simple to be applied to the servomechanisms. Compared with the math model based friction fitting method, the RBF network realizes a much better fitting error result. Correspondingly, the identified linear system model is very close to the measured frequency response data as well.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Wang, Youyi
format Research Report
author Wang, Youyi
author_sort Wang, Youyi
title Advanced nonlinear control for electrical drive systems
title_short Advanced nonlinear control for electrical drive systems
title_full Advanced nonlinear control for electrical drive systems
title_fullStr Advanced nonlinear control for electrical drive systems
title_full_unstemmed Advanced nonlinear control for electrical drive systems
title_sort advanced nonlinear control for electrical drive systems
publishDate 2008
url http://hdl.handle.net/10356/14520
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