A performance comparison of nonlinear and linear control for a DC series motor / Una comparación de desempeño del control Lineal y no lineal de un motor de corriente continua
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Sección: ARTÍCULOS DE INVESTIGACIÓN / RESEARCH PAPERS
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Rengifo Rodas, C., Castro Casas, N., & Bravo Montenegro, D. (2017). A performance comparison of nonlinear and linear control for a DC series motor / Una comparación de desempeño del control Lineal y no lineal de un motor de corriente continua. CIENCIA EN DESARROLLO, 8(1), 41-50. https://doi.org/10.19053/01217488.v8.n1.2017.5455
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Autores
Carlos Felipe Rengifo Rodas
http://orcid.org/0000-0002-0601-3481
Natalia Castro Casas
Diego Alberto Bravo Montenegro
http://orcid.org/0000-0001-7041-3183
Resumen
The aim of this article is to compare the performance of linear and non-linear control in the case of a series wound DC motor. The research was focused on determining when the differences in the performance between these controllers are significant. The comparison was made on the MS150 feedback module and it included the phases of parameter estimation for the linear and the non-linear models, the statistical validation of these models and the design and implementation of the controllers. In order to make the comparison there were defined two performance criteria respectively based on the tracking error and on the control effort. These criteria were applied by considering three scenarios defined according to the range in which the velocity set point is varied. In the first scenario, the reference velocity remained constant and equal to the value of the operation point around which the linear model was obtained (60 %). In the second and third scenarios the reference velocity was respectively increased from 40% to 60% and from 20% to 100%. From the experimental tests it was observed for the scenarios two and three that the tracking error and the control effort for the linear controller are superior to the non-linear ones. While for the first scenario, the linear controller presents a lower tracking error with an approximately equal control effort . From this work it was concluded that for reference velocities that are close to the operation point, the linear controller presents a significant advantage over non-linear controller.
Detalles del artículo
Referencias
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wound DC motor modeling and simulation,
considering magnetic, mechanical and electric
power losses,” in Circuits and Systems, 2009.
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Symposium on, Aug 2009, pp. 1073–1077.
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vol. 45, no. 1, pp. 134 – 141, Feb 1998.
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(TRC) scheme for a DC series motor part I:
Performance,” Electrical Engineering Journal,
Canadian, vol. 3, no. 2, pp. 39–43, April 1978.
[16] H. Tan, N. Rahim, and W. Hew, “A simplified
fuzzy logic controller for DC series motor with
improve performance,” in Fuzzy Systems, 2001.
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vol. 3, 2001, pp. 1523–1526.
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controls for a fuel cell/supercapacitor hybrid
power plant,” International Journal of Electrical
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454 – 464, 2014.
[18] S. Valluru and N. Singh, M.and Kumar, “Implementation
of NARMA-L2 neuro controller for
speed regulation of series connected DC motor,”
in IEEE 5th India International Conference on
Power Electronics (IICPE), 2012, pp. 1 – 7.
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“Comparison of nonlinear control design techniques
on a model of the caltech ducted fan,”
Automatica, vol. 37, no. 12, pp. 1971 – 1978,
2001.
L. Amet, M. Ghanes, and J.-P. Barbot, “Super twisting based step-by-step observer for a DC series motor: Experimental results,” in IEEE
International Conference on Control Applications
(CCA), 2013, pp. 814 – 819.
B. Boukhezzar and H. Siguerdidjane, “Comparison between linear and nonlinear control strategies for variable speed windturbines,” Control
Engineering Practice, vol. 18, no. 12, pp. 1357 – 1368, 2010.
M. J. Burridge and Z. Qu, “An improved nonlinear control design for series DC motors,” in Proceedings of the 1997 American Control
Conference, 1997, pp. 1529 – 1533.
[5] S. Doradla and P. Sen, “Time ratio control (TRC) scheme for a DC series motor part II: Commutation circuit analysis,” Electrical Engineering Journal, Canadian, vol. 3, no. 2, pp. 44–48, April 1978.
[6] Y. Errami, M. Ouassaid, and M. Maaroufi, “A
performance comparison of a nonlinear and a
linear control for grid connected PMSG wind
energy conversion system,” International Journal
of Electrical Power & Energy Systems,
vol. 68, no. 0, pp. 180 – 194, 2015.
[7] U. Farooq, J. Gu, M. Asad, and G. Abbas, “Robust
Takagi-Sugeno fuzzy speed regulator for
DC series motors,” in 12th International Conference
on Frontiers of Information Technology
(FIT), 2014, pp. 79 – 86.
[8] M. Hadziselimovic, M. Blaznik, B. Stumberger,
and I. Zagradisnik, “Magnetically nonlinear
dynamic model of a series wound DC motor,”
Electrical Review, vol. 87, no. 12b, pp. 60 – 64,
2011.
[9] M. Jabri, A. Belgacem, and H. Jerbi, “Moving
horizon parameter estimation of series DC motor
using genetic algorithm,” inWorld Congress
on Nature & Biologically Inspired Computing,
2009, pp. 1528 – 1531.
[10] S. Junco, A. Donaire, and G. Garnero, “Speed
control of series DC motor: a bond graph based
backstepping design,” in IEEE International
Conference on Systems, Man and Cybernetics,
vol. 3, 2002.
[11] A. Levant, “Universal single-input-singleoutput(
siso) sliding-mode controllers with
finite-time convergence,” IEEE Transactions
on Automatic Control, vol. 46, no. 9, pp. 1447
– 1451, Sept. 2001.
[12] Z. Liu, F. Luo, and M. Rashid, “Nonlinear
speed controllers for series DC motor,” in
Power Electronics and Drive Systems, 1999.
PEDS ’99. Proceedings of the IEEE 1999 International
Conference on, vol. 1, 1999, pp.
333–338 vol.1.
[13] J. Martinez, P. Lopez, and J. Juarez, “Series
wound DC motor modeling and simulation,
considering magnetic, mechanical and electric
power losses,” in Circuits and Systems, 2009.
MWSCAS ’09. 52nd IEEE International Midwest
Symposium on, Aug 2009, pp. 1073–1077.
[14] S. Mehta and J. Chiasson, “Nonlinear control
of a series DC motor: Theory and experiment,”
IEEE Transactions on Industrial Electronics,
vol. 45, no. 1, pp. 134 – 141, Feb 1998.
[15] P. Sen and S. Doradla, “Time ratio control
(TRC) scheme for a DC series motor part I:
Performance,” Electrical Engineering Journal,
Canadian, vol. 3, no. 2, pp. 39–43, April 1978.
[16] H. Tan, N. Rahim, and W. Hew, “A simplified
fuzzy logic controller for DC series motor with
improve performance,” in Fuzzy Systems, 2001.
The 10th IEEE International Conference on,
vol. 3, 2001, pp. 1523–1526.
[17] P. Thounthong, P. Tricoli, and B. Davat, “Performance
investigation of linear and nonlinear
controls for a fuel cell/supercapacitor hybrid
power plant,” International Journal of Electrical
Power & Energy Systems, vol. 54, no. 0, pp.
454 – 464, 2014.
[18] S. Valluru and N. Singh, M.and Kumar, “Implementation
of NARMA-L2 neuro controller for
speed regulation of series connected DC motor,”
in IEEE 5th India International Conference on
Power Electronics (IICPE), 2012, pp. 1 – 7.
[19] J. Yu, A. Jadbabaie, J. Primbs, and Y. Huang,
“Comparison of nonlinear control design techniques
on a model of the caltech ducted fan,”
Automatica, vol. 37, no. 12, pp. 1971 – 1978,
2001.
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