NSF Young Investigator: Development of Nonlinear Controllersfor Electromechanical Systems

9457967道森在这个项目中，主要的重点将是设计和实施用于制造应用的高精度执行器。具体地说，将为几种类型的电机开发先进的非线性位置跟踪控制器，用于机械负载的驱动。这些非线性控制器是在电机的电压输入端设计的，因此，在低级控制综合中既考虑了电机的电气动态，也考虑了负载的机械动态。要考虑的非线性控制技术可以分为两大类：(1)需要完整状态反馈的控制器，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，例如只需要转子位置，但依赖于完整的机电动力学知识。这项研究有望推动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预计将从这项研究中受益。

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.