A universal digital motion controller design for servo positioning mechanisms in industrial manufacturing. (August 2020)

• Record Type: Journal Article
• Authors: Cheng, Guoyang; Yu, Wentao
• Is Part Of: Robotics and computer-integrated manufacturing. Volume 64(2020)
• Publication Date: 2020-08
• Subjects: Digital control -- Disturbance rejection -- Motion control -- Nonlinear control -- Observer -- Parameterized design -- Performance tuning; Robots, Industrial -- Periodicals; Computer integrated manufacturing systems -- Periodicals; Robotics -- Periodicals; Robots industriels -- Périodiques; Productique -- Périodiques; Robotique -- Périodiques; 670.285
• DOI: 10.1016/j.rcim.2020.101943
• Languages: English
• ISSNs: 0736-5845

Abstract

Highlights: A universal digital motion controller design with theoretical analysis is presented. The controller uses a synergy of linear and nonlinear control with disturbance rejection, and achieves desirable performance. The controller is fully parameterized, with the advantage of fast implementation and convenience of on‐line tuning. The controller has the potential of integration with an identification algorithm to form a self‐tuning motion control system. The design was verified on a DSP-controlled testbed, and demonstrated a competitive performance against the popular ADRC. Abstract: A parameterized design of universal motion controller is proposed in discrete-time domain using composite nonlinear control approach for high-performance servo mechanisms in industrial automation. First, the model of servo mechanisms is converted into discrete-time state-space form, and a linear control law is designed, consisting of state feedback, reference feed-forward and disturbance compensation. Next, a nonlinear control law is constructed to smoothly modulate the closed-loop damping as the system output approaches the reference. To estimate the unmeasurable velocity and disturbance, a reduced-order extended-state observer is adopted. The final controller is a combination of the above three parts and is fully parameterized in some fundamental tuning parameters. The controller was applied to a permanent magnet synchronous motor (PMSM) drive, which usually serves as the actuator for high-performance motion control systems. After MATLAB simulation, experimental test using a digital signal processing board was conducted, to verify the effectiveness of the proposed design.