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4
Permanent Magnet Stepper Moto
• θ: rotor (angular) position (in radians)
• ω: rotor (angular) velocity
• ia , ib: current inputs in phase A and B
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Controller DesignControl goal
- Improvement of position tracking performance
Feedforwad term
PID control part
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Electro Hydraulic Systems
x1 : position of the piston [m]
x2: velocity of the piston [m/s]
x3: pressure difference between the
chamber A and B [Pa]
u: current input [mA]
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Controller DesignControl goal
- Position tracking under unknown disturbance
- Disturbance observer (DOB) for disturbance estimation
- Controller for boundary condition of position tracking error
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Block Diagram for Control Systems
EHS
x1, x2, x3u
DOB
Controller
Estimations
of d1, d2
Microprocessor Actual system