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Learning position controls for hybrid step motors: from current-fed to full-order models

Salis, Valerio; Chiappinelli, Nicolas; Costabeber, Alessando; Zanchetta, Pericle; Bifaretti, Stefano; Tomei, Patrizio; Verrelli, Cristiano Maria

Authors

Valerio Salis

Nicolas Chiappinelli

Alessando Costabeber alessandro.costabeber@nottingham.ac.uk

Pericle Zanchetta pericle.zanchetta@nottingham.ac.uk

Stefano Bifaretti

Patrizio Tomei

Cristiano Maria Verrelli



Abstract

The experimental comparison of two different global learning position controls (namely, ‘adaptive learning’ and ‘repetitive learning’ controls) for hybrid step motors performing repetitive tasks has been recently presented in the literature. Related benefits and drawbacks have been successfully analyzed on the same robotic application. However, the design of the two aforementioned learning controls - though relying on a rigorous stability analysis - are based on a simplified current-fed model of the motor. They cannot achieve precise current tracking due to the mere presence of PI control actions in the outer current control loops. The aim of this paper is to enrich and update the results of the above comparison in the light of the latest contributions that generalize the theoretical design to the fullorder voltage-fed motor models of hybrid step motors. Learning actions are now included in the outer current control loops: they generalize the corresponding PI actions to the periodic scenario and allow to solve a control problem whose solution was seeming very difficult to be obtained.

Journal Article Type Article
Publication Date Aug 1, 2018
Journal IEEE Transactions on Industrial Electronics
Print ISSN 0278-0046
Electronic ISSN 0278-0046
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 65
Issue 8
APA6 Citation Salis, V., Chiappinelli, N., Costabeber, A., Zanchetta, P., Bifaretti, S., Tomei, P., & Verrelli, C. M. (2018). Learning position controls for hybrid step motors: from current-fed to full-order models. IEEE Transactions on Industrial Electronics, 65(8), doi:10.1109/TIE.2018.2793183
DOI https://doi.org/10.1109/TIE.2018.2793183
Keywords Permanent magnet step motors, learning control,
position tracking.
Publisher URL https://ieeexplore.ieee.org/document/8258877/
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingh.../end_user_agreement.pdf
Additional Information © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf





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