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Input-decoupled discrete-time sliding mode control algorithm for servo multi-field multi-armature DC machine.

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  • 1Faculty of Mechanical Engineering, K. N. Toosi University of Technology, Iran.

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|September 17, 2021
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Summary
This summary is machine-generated.

A novel discrete-time nonlinear algorithm decouples motor dynamics in multi-field multi-armature direct current (MFMADC) machines. This control algorithm ensures robust, independent position or torque control for each motor, enhancing precision.

Keywords:
Control input decouplingCoupled convex inequalitiesMatrix echelon/canonical formMulti-field servo DC machinePosition/torque servo mode

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Area of Science:

  • Robotics and Control Systems
  • Electrical Engineering
  • Mechatronics

Background:

  • Servo actuating systems often face challenges with coupled motor dynamics and modeling uncertainties.
  • Achieving precise control, especially under high-frequency disturbances, requires advanced algorithms for complex machines like the multi-field multi-armature direct current (MFMADC) machine.

Purpose of the Study:

  • To develop and propose a novel discrete-time nonlinear control algorithm for MFMADC machines.
  • To achieve independent and robust control of individual motors within the MFMADC system.
  • To demonstrate the algorithm's effectiveness in decoupling dynamical interactions and ensuring asymptotic stability.

Main Methods:

  • Multivariable modeling of the MFMADC machine.
  • Development of a discrete-time nonlinear control algorithm based on the Lyapunov principle.
  • Analytical decoupling of coupled stabilizing convex inequalities using matrix operations.
  • Experimental verification using an MFMADC machine integrated with a harmonic drive reducer (HDR) using PLA materials.

Main Results:

  • The proposed algorithm successfully decouples the dynamical interactions between connected motors.
  • Independent control of position and torque for each motor is achieved with asymptotic stability and robustness against uncertainty.
  • Experimental results validate the algorithm's performance in both position-only and simultaneous position-torque control modes.
  • The MFMADC technology proves effective for high-precision position tracking under high-frequency disturbances.

Conclusions:

  • The novel discrete-time nonlinear algorithm provides effective decoupling and robust control for MFMADC servo systems.
  • The method enables independent and stable control of individual motor tasks (position or torque).
  • MFMADC technology, when controlled by this algorithm, is suitable for applications demanding high precision and disturbance rejection.