DocumentCode :
3525616
Title :
Discrete-time compensating control of a stepper motor for an active control lever
Author :
Meyer, Dagmar ; Roskam, Rolf
Author_Institution :
Dept. of Electr. Eng., Ostfalia Univ. of Appl. Sci., Wolfenbuettel, Germany
fYear :
2010
fDate :
23-25 June 2010
Firstpage :
721
Lastpage :
726
Abstract :
Control levers for command setting are widely used, e. g. as thrust control in marine or aviation applications. Actually these levers are equipped with a mechanical brake to avoid movements of the lever in case of vibrations. Special control points are indicated to the user by mechanical detents. The basic idea of an active lever is to create a force feedback to the user which depends on the current situation of the system, e.g. if the user wants to reduce the thrust and the system recognizes a risk to stall the airplane then a high counterforce is applied against the movement of the lever. Detents or break characteristics can also be simulated by the active lever which is typically driven by a DC motor. The basic idea presented in this paper is to use a stepper motor which is able to produce high detent torques even in the case of a power blackout. Field oriented control by means of a discrete-time compensating controller is applied to the current control loop. This paper focuses on the nonlinear mathematical model of the stepper motor and the design of a discrete-time decoupling compensating current controller. Due to the small electrical time constant of the motor and a limited sampling rate, quasi continuous control design of a PI controller does not produce satisfactory results.
Keywords :
DC motors; compensation; discrete time systems; electric current control; force feedback; machine vector control; nonlinear control systems; stepping motors; DC motor; PI controller; active control lever; current control loop; detent torque; discrete-time compensating control; discrete-time decoupling compensating current controller; electrical time constant; field oriented control; force feedback; mechanical brake; nonlinear mathematical model; stepper motor; Couplings; Equations; Inductance; Mathematical model; Permanent magnet motors; Rotors; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control & Automation (MED), 2010 18th Mediterranean Conference on
Conference_Location :
Marrakech
Print_ISBN :
978-1-4244-8091-3
Type :
conf
DOI :
10.1109/MED.2010.5547786
Filename :
5547786
Link To Document :
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