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
Abstract
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.Keywords
Control, DC Motor, System Identification, Dynamical Systems
Supplementary File(s)
Sin títuloAuthor Biography
Carlos Felipe Rengifo Rodas
Ingeniero Eléctrico, Universidad del Valle, Cali, Colombia, 1996.
Magíster en Automática, Universidad del Valle, Cali, Colombia, 2000.
Magíster en Automática, Ecole Centrale de Nantes, Nantes, Francia, 2007.
Doctor en Automática, Robótica, Tratamiento de Señal e Informática Aplicada, Ecole Centrale de Nantes, Nantes, Francia, 2010.
Natalia Castro Casas
Ingeniera en Automática Industrial, Universidad del Cauca, (2015). Estudiante de Maestría en Automática, Robótica e Informática Aplicada, en la École Centrale de Nantes (Francia)
Diego Alberto Bravo Montenegro
Physic Engineer (2003) and Doctor in Electronic Sciences (2016) from the Universidad del Cauca. Specialist in Industrial Automatic (2007) and Master in Automatic Engineering (2012) from the Universidad del Valle. Professor since 2004 at Physics Department (Universidad del Cauca). Pre and postgraduate teaching in Dynamic and Control Systems, Instrumentation. Research fields: Robotics, System Identification, Instrumentation and Control.
References
- A. T. Alexandridis and G. C. Konstantopoulos, “Modified PI speed controllers for seriesexcited DC motors fed by DC/DC boost converters,” Control Engineering Practice, vol. 23, pp. 14 – 21, 2014. DOI: https://doi.org/10.1016/j.conengprac.2013.10.009
- 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. DOI: https://doi.org/10.1016/j.conengprac.2010.06.010
- M. J. Burridge and Z. Qu, “An improved nonlinear control design for series DC motors,” in Proceedings of the 1997 American Control DOI: https://doi.org/10.1109/ACC.1997.610796
- Conference, 1997, pp. 1529 – 1533.
- 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. DOI: https://doi.org/10.1109/CEEJ.1978.6591134
- 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. DOI: https://doi.org/10.1016/j.ijepes.2014.12.027
- 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.
- 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,
- 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,
- , pp. 1528 – 1531.
- 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.
- 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.
- 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. DOI: https://doi.org/10.2469/cp.v1999.n4.2
- –338 vol.1.
- 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.
- 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. DOI: https://doi.org/10.1109/41.661314
- 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.
- 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. DOI: https://doi.org/10.1021/ol0158415
- 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.
- – 464, 2014.
- 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.
- 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,
Downloads
Download data is not yet available.