Control of a DC motor using algebraic derivative estimation with real time experiments

Morales, R. and Somolinos Sánchez, José Andrés and Sira-Ramírez, H. (2014). Control of a DC motor using algebraic derivative estimation with real time experiments. "Measurement", v. 47 ; pp. 401-417. ISSN 0263-2241. https://doi.org/10.1016/j.measurement.2013.09.024.

Description

Title: Control of a DC motor using algebraic derivative estimation with real time experiments
Author/s:
  • Morales, R.
  • Somolinos Sánchez, José Andrés
  • Sira-Ramírez, H.
Item Type: Article
Título de Revista/Publicación: Measurement
Date: 2014
ISSN: 0263-2241
Volume: 47
Subjects:
Freetext Keywords: DC motors, Disturbance estimation, Derivative estimation, Dynamic control
Faculty: E.T.S.I. Navales (UPM)
Department: Arquitectura, Construcción y Sistemas Oceánicos y Navales (Dacson)
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents an experimental control scheme for DC motors which combines an overlapping implementation of the algebraic derivative estimation method and a disturbance estimator based on the aforementioned algebraic derivative method. The methodology only requires the measurement of the angular position of the motor and the voltage input to the motor. The main advantages of the proposed approach are: it is independent of the motor’s initial conditions, the methodology is robust to Coulomb friction effects, it does not require any statistical knowledge of the noises that corrupt the data, the derivative estimation process does not require initial conditions or dependence between the system input and output, and the algorithm is computed on-line and in real time. The effectiveness of the proposed controller has been verified by means of computer simulations and it has also been experimentally implemented on a laboratory prototype with excellent results in both, stabilization and trajectory tracking tasks.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2011- 24113CODAECUnspecifiedControl de dispositivos para el aprovechamiento de la energía de las corrientes marinas

More information

Item ID: 36060
DC Identifier: http://oa.upm.es/36060/
OAI Identifier: oai:oa.upm.es:36060
DOI: 10.1016/j.measurement.2013.09.024
Official URL: http://www.sciencedirect.com/science/article/pii/S0263224113004624?via%3Dihub
Deposited by: Memoria Investigacion
Deposited on: 10 Jul 2017 09:00
Last Modified: 10 Jul 2017 09:00
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