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A methodology for identification and control of electro-mechanical actuators.

Tutunji TA, Saleem A - MethodsX (2015)

Bottom Line: The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers).Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology.These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechatronics Engineering, Philadelphia University, Jordan.

ABSTRACT
Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

No MeSH data available.


The proposed three-stage methodology.
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fig0005: The proposed three-stage methodology.

Mentions: The aim of the proposed methodology is to choose and apply appropriate controllers to general electro-mechanical actuators. It is assumed that the plant model is not known in advance. The idea is to approximate the plant model by identifying the transfer function using real-time data. This implies the use of computer acquisition arrangement connected directly to the plant. Then, the plant is disconnected and controllers are applied to the identified model in a simulation environment. This provides the flexibility of trying different control methods to the model without causing damage or downtime for plant. Once the controller is designed and tuned in a pure simulation environment, the plant is then re-connected to the computer acquisition arrangement where the computer is used as the controller. These steps are shown in Fig. 1. The advantages of the proposed methodology are: optimizing time resources and minimizing the cost as a result of online identification and offline controller design. The three steps are described in next.


A methodology for identification and control of electro-mechanical actuators.

Tutunji TA, Saleem A - MethodsX (2015)

The proposed three-stage methodology.
© Copyright Policy - CC BY
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4487713&req=5

fig0005: The proposed three-stage methodology.
Mentions: The aim of the proposed methodology is to choose and apply appropriate controllers to general electro-mechanical actuators. It is assumed that the plant model is not known in advance. The idea is to approximate the plant model by identifying the transfer function using real-time data. This implies the use of computer acquisition arrangement connected directly to the plant. Then, the plant is disconnected and controllers are applied to the identified model in a simulation environment. This provides the flexibility of trying different control methods to the model without causing damage or downtime for plant. Once the controller is designed and tuned in a pure simulation environment, the plant is then re-connected to the computer acquisition arrangement where the computer is used as the controller. These steps are shown in Fig. 1. The advantages of the proposed methodology are: optimizing time resources and minimizing the cost as a result of online identification and offline controller design. The three steps are described in next.

Bottom Line: The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers).Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology.These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechatronics Engineering, Philadelphia University, Jordan.

ABSTRACT
Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: •Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

No MeSH data available.