TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS

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ABEROOMAND VAHID; FESHARAKIFARD RASUL; KAMALI EIGOLI ALI

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Journal: Modares Mechanical Engineering Year:2017 | Volume:16 | Issue:12 Page(s): 227-238

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Title

TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS

Author(s)

ABEROOMAND VAHID | FESHARAKIFARD RASUL | KAMALI EIGOLI ALI | Issue Writer Certificate

Keywords

HYBRID ACTUATORQ1

HAPTIC INTERFACEQ1

DC MOTOR TORQUE CONTROLQ1

ROBUST CONTROLQ1

PARAMETRIC UNCERTAINTYQ1

Abstract

In electromagnetic motors, increase in output torque leads to increase in rotor inertia. Various robotics applications, especially HAPTIC INTERFACEs, necessitate convenient dynamic performances of electromagnetic motors which are in turn strongly influenced by the rotor’s inertia. In the present paper, a ROBUST CONTROL method for a viscous HYBRID ACTUATOR is developed which supplies a desired varying torque while maintaining a constant low inertia. This HYBRID ACTUATOR includes two dc motors with the shafts coupled through a rotational damper using a viscous non-contact coupler. This coupling method is based on Eddy current to provide the required performances. The large far motor eliminates or reduces the inertial forces and external dynamics effects on the actuator. The small near motor provides the desired output torque. Since the system is essentially linear, the applied ROBUST CONTROL method is based on H¥ and parametric uncertainties and physical constraints including motors’ voltages saturation, rotary damper’s speed saturation, fastest user’s speed and acceleration applied to the actuator and force sensor noise are considered in its design. Also, the robust method of m-synthesis for the system in presence of parameteric uncertainties and other physical constraints is studied. At the end, the proposed control system’s performance (H¥ optimal control) is compared to the previous controller [1] with whole physical constraints and the results indicate the performance improvement. The implementation of the controller on a 1 dof HAPTIC INTERFACE model validates the achievement of the desired performances.

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APA: Copy

ABEROOMAND, VAHID, FESHARAKIFARD, RASUL, & KAMALI EIGOLI, ALI. (2017). TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS. MODARES MECHANICAL ENGINEERING, 16(12 ), 227-238. SID. https://sid.ir/paper/178140/en

Vancouver: Copy

ABEROOMAND VAHID, FESHARAKIFARD RASUL, KAMALI EIGOLI ALI. TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS. MODARES MECHANICAL ENGINEERING[Internet]. 2017;16(12 ):227-238. Available from: https://sid.ir/paper/178140/en

IEEE: Copy

VAHID ABEROOMAND, RASUL FESHARAKIFARD, and ALI KAMALI EIGOLI, “TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 12 , pp. 227–238, 2017, [Online]. Available: https://sid.ir/paper/178140/en

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