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

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.

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), 6120-6130. https://doi.org/10.1109/TIE.2018.2793183

• Journal Article Type: Article
• Acceptance Date: Dec 18, 2017
• Online Publication Date: Jan 15, 2018
• Publication Date: Aug 1, 2018
• Deposit Date: Apr 11, 2018
• Publicly Available Date: Apr 11, 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
• Pages: 6120-6130
• DOI: https://doi.org/10.1109/TIE.2018.2793183
• Keywords: Permanent magnet step motors, learning control,; position tracking.
• Public URL: https://nottingham-repository.worktribe.com/output/948796
• Publisher URL: https://ieeexplore.ieee.org/document/8258877/
• 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.