Event-Triggered Control for Servo Motor Systems Based on Fully Actuated System Approach and Dynamical Compensator

被引：0
作者：
Li, Ping [1 ]
Duan, Guangren [2 ,3 ]
Zhang, Bi [4 ]
Wang, Yuzhong [5 ]
机构：
[1] Southern Univ Sci & Technol, Sch Syst Design & Intelligent Mfg, Shenzhen Key Lab Control Theory & Intelligent Syst, Shenzhen 518000, Guangdong, Peoples R China
[2] Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen 518055, Peoples R China
[3] Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin 150001, Peoples R China
[4] Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China
[5] Univ Hong Kong, Dept Elect & Elect Engn, Hong Kong 999077, Peoples R China
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2024年
基金：
中国国家自然科学基金;
关键词：
Servomotors; Uncertainty; Event detection; Stators; Control theory; Torque; Stability analysis; Tuning; Robots; PI control; Dynamical compensator; event-triggered control (ETC); fully actuated system (FAS) approach; servo motor systems; PMSM;
D O I：
10.1109/TIE.2024.3515273
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article studies the event-triggered control (ETC) of servo motor systems based on fully actuated system (FAS) approach. The dynamics of servo systems is first simplified as a second-order FAS model, with which the control law can be synthesized for a desired tracking error dynamics in a very simple and straightforward way. To save the communication resource in networked control system (NCS), an ETC scheme is applied with a fixed threshold strategy, and a hyperbolic tangent function is employed to guarantee the exponential stability of the control system. Unfortunately, various uncertainties and disturbances in actual systems may severely degrade the tracking accuracy. To overcome this issue, a general dynamical compensator is utilized to better suppress the unknown disturbances. Furthermore, the stability of the control system is analyzed in the presence of parameter uncertainties. Simulation experiments are implemented on a practical servo motor with NCS to verify the effectiveness and superiority of the proposed control scheme.
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页数：10
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