Flatness-based MIMO control of hybrid stepper motors - design and implementation

被引：0
|
作者：
Henke, Benjamin [1 ]
Ruess, Alexandra [1 ]
Neumann, Ruediger
Zeitz, Michael [1 ]
Sawodnyl, Oliver [1 ]
机构：
[1] Univ Stuttgart, Inst Syst Dynam, Stuttgart, Germany
来源：
2014 AMERICAN CONTROL CONFERENCE (ACC) | 2014年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Hybrid stepper motors are often used as actuators in automation and handling. To overcome their main drawbacks, step-wise motion and poor robustness against load disturbances, closed loop control can be applied. The concept of differential flatness offers powerful tools for a wide range of linear and nonlinear systems. The differential flatness property of the nonlinear MIMO model of a hybrid stepper motor is proven and a flat output is determined constructively as solution to a set of partial differential equations. By use of the flat output, an asymptotic tracking control is designed and evaluated in simulation and experiments.
引用
收藏
页码：347 / 352
页数：6
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