Volume 14, Issue 3 (Journal of Control, V.14, N.3 Fall 2020)                   JoC 2020, 14(3): 13-21 | Back to browse issues page


XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Imanpour Ghiehbashi A, Arvan M R, Koohmaskan Y. Design and Implementation of a Control System for a DC Servomechanism with an Internal Dither Created by a Limit Cycle. JoC. 2020; 14 (3) :13-21
URL: http://joc.kntu.ac.ir/article-1-596-en.html
1- Malek-Ashtar University of Technology
Abstract:   (3008 Views)
Purpose of this paper is designing of a positional angle control system for a DC servomechanism. The servomechanism system consists of a direct current (DC) motor, a motor driver, a measuring sensor, and a control board to adjust angular position. The motor in the servomechanism has a non-linear element called dead-zone. Presence of dead-zone causes the nonlinear behavior of system. Injecting a high frequency signal called dither to input of nonlinear element is a method to reduce the nonlinear effects in that system. There are two approaches of injecting dither to system, the first is generating dither and injecting independently and the second is generating dither by creating a limit cycle. In this paper, a relay and an appropriate controller are exploited to create a limit cycle with adjustable amplitude and frequency in the servomechanism system. This limit cycle generates an internal dither in the system. The frequency of limit cycle is adjustable by determining controller coefficients. Finally, according to the simulation results, the servomechanism was implemented practically and the validation is performed.
Full-Text [PDF 595 kb]   (302 Downloads)    
Type of Article: Review paper | Subject: Special
Received: 2018/07/10 | Accepted: 2019/04/14 | ePublished ahead of print: 2019/08/15 | Published: 2020/12/10

References
1. M. Nakamura, S. Goto, and N. Kyura, "Mechatronic Servo System Control," Lecture Notes in Control and Information Sciences., 2004. [DOI:10.1007/b95853]
2. R. Bindu, M. K. Namboothiripad, "Tuning of PID Controller for DC Servo Motor using Genetic Algorithm," International Journal of Emerging Technology and Advanced Engineering., vol. 2, no. 3, pp. 310-314, March 2012.
3. L. Iannelli, F. Vasca, "Dither for chattering reduction in sliding mode control systems," Circuits and Systems, 2004. ISCAS '04. Proceedings of the 2004 International Symposium on., vol. 4, pp. IV-709, 2004.
4. S. Mossaheb, "Application of a method of averaging to the study of dithers in nonlinear systems," International Journal of Control., vol. 38, no. 3, pp. 557-576, Sept. 2012. [DOI:10.1080/00207178308933094]
5. K. J. Astrom, "Oscillations in System with Relay Feedback," Adaptive Control, Filtering, and Signal Processing., pp. 1-25, 1995. [DOI:10.1007/978-1-4419-8568-2_1]
6. [ ] G. Zames, N. Shneydor, "Dither in nonlinear systems," IEEE Transactions on Automatic Control., vol. 21, no. 25, pp. 660-667, Oct. 1960. [DOI:10.1109/TAC.1976.1101357]
7. C. A. DESOER, S. M. SHAHRUZ, "Stability of dithered non-linear systems with backlash or hysteresis," International Journal of Control., vol. 43, no. 4, pp. 1045-1060, 1986. [DOI:10.1080/00207178608933522]
8. O. Morgul, "On the control of chaotic systems in Lur'e form by using dither," IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications., vol. 46, no. 10, pp. 1045-1060, Oct. 1999 [DOI:10.1109/81.795846]
9. F. H. Hsiao, J. D. Hwang, and Z. R. Tsai, "Taming chaotic systems with dithers," Physica D: Nonlinear Phenomena., vol. 156, no. 3-4, pp. 239-246, 2001 [DOI:10.1016/S0167-2789(01)00294-9]
10. R. Frasca, L. Iannelli, and F. Vasca, "Dithered sliding-mode control for switched systems," IEEE Transactions on Circuits and Systems II: Express Briefs., vol. 53, no. 9, pp. 872-876, Sept. 2006. [DOI:10.1109/TCSII.2006.880332]
11. R. Morita, Sh. Azuma and T. Sugie, "Performance analysis of random dither quantizers in feedback control systems," IFAC Proceedings., vol. 44, no. 1, pp. 11296-11301, 2011. [DOI:10.3182/20110828-6-IT-1002.03430]
12. K. Kashima, D. Inoue, "Stationary performance evaluation of control systems with random dither quantization," Control Conference (ECC), 2014 European., pp. 1625-1630, 2014. [DOI:10.1109/ECC.2014.6862294]
13. F. A. Malekzadeh, A. V. Roermund, and R. Mahmoudi, "Low frequency dithering technique for linearization of current mode class D amplifiers," Microwave Symposium Digest (MTT), 2012 IEEE MTT-S International., pp. 1-3, 2012. [DOI:10.1109/MWSYM.2012.6259422]
14. F. A. Malekzadeh, A. Roermund, and R. Mahmoudi, "Low frequency dithering technique for linearization of voltage mode class D amplifiers," Power Amplifiers for Wireless and Radio Applications (PAWR), 2013 IEEE Topical Conference on., pp. 55-57, 2013. [DOI:10.1109/PAWR.2013.6490187]
15. A. Elrayyah, K. MPK Namburi, Y. Sozer, and I. Husain, "An effective dithering method for electromagnetic interference (EMI) reduction in single-phase DC/AC inverters," IEEE Transactions on Power Electronics., vol. 29, no. 6, pp. 2798-2806, June 2014. [DOI:10.1109/TPEL.2013.2277665]
16. A. Elrayyah, Y. Sozer, "Effective dithering technique for EMI reduction in three phase DC/AC inverters," Applied Power Electronics Conference and Exposition (APEC), 2014 Twenty-Ninth Annual IEEE., pp. 2401-2406, 2014. [DOI:10.1109/APEC.2014.6803639]
17. Q. G. Wang, T. H. Lee, and Ch. Lin, "Relay feedback: Analysis, identification and control," International Journal of Robust and Nonlinear Control., vol. 14, no. 16, pp. 1376-1378, 2004. [DOI:10.1002/rnc.945]
18. K. H. Johansson, A. Rantzer, and K. J. Astrom, "Fast switches in relay feedback systems," Automatica., vol. 35, no. 4, pp. 539-552, 1999. [DOI:10.1016/S0005-1098(98)00160-5]
19. YA. Z. TSypkin, "Fast switches in relay feedback systems," Releinye avtomaticheskie sistemy., 1984.
20. K. H. Johanssoni, A. Barabanov, and K. J. Astrom, "Limit cycles with chattering in relay feedback systems," Decision and Control, 1997., Proceedings of the 36th IEEE Conference on., vol. 4, pp. 3220-3225, 1997.
21. A. Megretski, "Global stability of oscillations induced by a relay feedback," IFAC Proceedings., vol. 29, no. 1, pp. 1931-1936, 1996. [DOI:10.1016/S1474-6670(17)57953-7]
22. M. D. Bernardo, K. H. Johansson, U. Jonsson, and F. Vasca, "On the robustness of periodic solutions in relay feedback systems," IFAC Proceedings., vol. 35, no. 1, pp. 191-196, 2002. [DOI:10.3182/20020721-6-ES-1901.01103]
23. J. J. E. Slotine, W. Li, "Applied Nonlinear Control," Prentice-Hall., vol. 199, no. 1, 1991.
24. R. Salloum, M. R. Arvan, and B. Moaveni, "System identification and uncertainty modeling of an electromechanical actuator," Journal of the Chinese Institute of Engineers., vol. 38, no. 5, pp. 562-572, 2015. [DOI:10.1080/02533839.2015.1005026]
25. W. M. Elsrogy, M. A. Fkirin, and M. A. Moustafa Hassan, "Speed control of DC motor using PID controller based on artificial intelligence techniques," 2013 International Conference on Control, Decision and Information Technologies (CoDIT)., Dec. 2013. [DOI:10.1109/CoDIT.2013.6689543]

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


© 2021 CC BY-NC 4.0 | Journal of Control

Designed & Developed by : Yektaweb