NSF Young Investigator: Development of Nonlinear Controllersfor Electromechanical Systems

在这个项目中，主要重点将是为制造应用设计和实现高精度执行器。具体来说，先进的非线性位置跟踪控制器将开发用于驱动机械负载的几种类型的电动机。这些非线性控制器设计在电机的电压输入处；因此，在低电平控制综合中，电机的电动力学和负载的机械动力学都被考虑在内。所考虑的非线性控制技术可分为两大类：(1)需要全状态反馈的控制器，例如，转子位置，转子速度和每相电流，并且能够补偿系统的不确定性，例如，参数不确定性和/或系统扰动；(2)只需要部分状态反馈的控制器，例如，转子位置，但依赖于整个机电动力学的完美知识。这项研究预计将导致使用电动执行器的高性能伺服驱动器的进步。用于制造应用的机器有望从这项研究中受益。

9457967 Dawson In this project, the primary focus will be the design and implementation of high precision actuators for manufacturing applications. Specifically, advanced nonlinear position tracking controllers will be developed for several types of electric motors for the actuation of mechanical loads. These nonlinear controllers are designed at the voltage input of the motor; therefore, the electrical dynamics of the motor as well as the mechanical dynamics of the load are both accounted for in the low level control synthesis. The nonlinear control techniques to be considered can be divided into two general categories: (1) controllers which require full state feedback, for example, rotor position, rotor velocity, and per phase currents, and are capable of compensating for system uncertainty, for example, parametric uncertainty and/or system disturbances, and (2) controllers which require only partial state feedback, for example, rotor position only, but rely on perfect knowledge of the entire electromechanical dynamics. The research is expected to lead to advancements in high-performance servo drives using electrical actuators. Machines used in manufacturing applications are expected to benefit from this research.