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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.


(a) Actual and identified model pulse speed response, (b) error between the actual and identified model responses.
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fig0045: (a) Actual and identified model pulse speed response, (b) error between the actual and identified model responses.

Mentions: The driving motor was identified online by applying an pulse signal to the real system and measuring its speed response. Fig. 9 shows the speed response of the real system versus the identified model. Several trials of different model orders were used and the 3rd order model showed the best match between the actual output and the predicted model output. The model transfer function was identified to be:H(z)=0.0012262zz3−2.3438z2+1.8739z−0.52036


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

Tutunji TA, Saleem A - MethodsX (2015)

(a) Actual and identified model pulse speed response, (b) error between the actual and identified model responses.
© Copyright Policy - CC BY
Related In: Results  -  Collection

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

fig0045: (a) Actual and identified model pulse speed response, (b) error between the actual and identified model responses.
Mentions: The driving motor was identified online by applying an pulse signal to the real system and measuring its speed response. Fig. 9 shows the speed response of the real system versus the identified model. Several trials of different model orders were used and the 3rd order model showed the best match between the actual output and the predicted model output. The model transfer function was identified to be:H(z)=0.0012262zz3−2.3438z2+1.8739z−0.52036

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.