A methodology for identification and control of electro-mechanical actuators

Area of Science:

• Mechatronics and Control Engineering
• Electrical and Mechanical Engineering

Background:

• Mechatronic systems integrate mechanical, electronic, and computer control subsystems.
• Electro-mechanical actuators are crucial for motion in mechatronic systems, necessitating effective controller design.

Purpose of the Study:

• To present a validated three-stage methodology for real-time identification and control of electro-mechanical actuator plants.
• To offer a practical, easy-to-follow procedure for designing controllers for these actuators.

Main Methods:

• Constructing identification models from experimental data to approximate plant response.
• Utilizing identified models in a simulation environment for controller design.
• Applying and testing the designed controller on a real plant using a modified Hardware-in-the-Loop (HIL) environment.

Main Results:

• The methodology successfully identified and controlled electro-mechanical actuators in simulated and experimental case studies (induction motor, vehicle drive system).
• The proposed approach demonstrated flexibility and ease of duplication for actuator control.
• A modified HIL concept was employed, using physical plants with computer control.

Conclusions:

• The three-stage methodology provides a practical and effective solution for the identification and control of electro-mechanical actuators.
• The approach combines off-line and on-line controller design for enhanced practical performance.
• The validated methodology simplifies the complex process of mechatronic system controller design.