Title :
Trajectory control of analog servo motor with limited state information using estimated discrete time model
Author :
Sudjana, Oetomo ; Hutagalung, Maclaunn
Author_Institution :
Comput. Sci. Dept., Inst. Teknol. Harapan Bangsa, Bandung, Indonesia
Abstract :
An estimated discrete time model from analog servo motor with limited state information was obtained. The process is divided in two main parts. First, we build diagram blocks consisting DC motor and its position controller. Next, we find the whole transfer function derived from the diagram blocks. Second, we obtained sampled-data from experiment to estimate the coefficients of simplified discrete time transfer function. In doing this, we use Gauss-Newton algorithm. We proposed a control method to control motor trajectory for the obtained model without directly controlling its velocity and only using position as a reference. Simulations and experiments show that our method achieve lower acceleration/deceleration at initial/final time, faster settling time, and less kinetic energy than its built-in controller alone.
Keywords :
DC motors; Newton method; discrete time systems; machine control; position control; servomotors; trajectory control; transfer functions; DC motor; Gauss-Newton algorithm; acceleration-deceleration; analog servo motor; built-in controller; diagram blocks; estimated discrete time model; kinetic energy; limited state information; motor trajectory control; position controller; sampled-data; settling time; simplified discrete time transfer function coefficients; trajectory control; Computers; Predictive models; Robots; Software; discrete-time; model; sampled data; servo motor; system identification; trajectory control;
Conference_Titel :
Robotics, Biomimetics, and Intelligent Computational Systems (ROBIONETICS), 2013 IEEE International Conference on
Conference_Location :
Jogjakarta
Print_ISBN :
978-1-4799-1206-3
DOI :
10.1109/ROBIONETICS.2013.6743581