A Reduced-Order Two-Degree-of-Freedom Composite Nonlinear Feedback Control for a Rotary DC Servo Motor
Pyrhönen, Veli-Pekka; Koivisto, Hannu; Vilkko, Matti (2017-12-12)
Pyrhönen, Veli-Pekka
Koivisto, Hannu
Vilkko, Matti
12.12.2017
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-201910224004
https://urn.fi/URN:NBN:fi:tuni-201910224004
Kuvaus
Peer reviewed
Tiivistelmä
We study in this paper nonlinear control of a rotary DC servo motor application. To be more specific, we design a reduced-order two-degree-of-freedom (2DOF) composite nonlinear feedback (CNF) controller for a Quanser QUBE-Servo 2 unit with a disc attachment. We compare our results with a carefully tuned proportional-derivative (PD) controller with set point weighting. Our simulation and experimental results show that the closed-loop system using 2DOF CNF controller yields much better set point tracking performance compared with the system using conventional PD-controller in terms of settling time.
Kokoelmat
- TUNICRIS-julkaisut [18884]