Energy-Based Control of Electromechanical Systems
A Novel Passivity-Based Approach
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Beschreibung
This book introduces a passivity-based approach which simplifies the controller design task for AC motors. It presents the application of this novel approach to several classes of AC motors, magnetic levitation systems, microelectromechanical systems (MEMS) and rigid robot manipulators actuated by AC-motors.
The novel passivity-based approach exploits the fact that the natural energy exchange existing between the mechanical and the electrical subsystems allows the natural cancellation of several high order terms during the stability analysis. This allows the authors to present come of the simplest controllers proposed in scientific literature, but provided with formal stability proofs. These simple control laws will be of use to practitioners as they are robust with respect to numerical errors and noise amplification, and are provided with tuning guidelines.Energy-based Control of Electromechanical Systems is intended for both theorists and practitioners. Therefore, the stability proofs are not based on abstract mathematical ideas but Lyapunov stability theory. Several interpretations of the proofs are given along the body of the book using simple energy ideas and the complete proofs are included in appendices. The complete modeling of each motor studied is also presented, allowing for a thorough understanding.
Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
This book introduces a passivity-based approach which simplifies the controller design task for AC-motors. It presents the application of this novel approach to several classes of AC motors, magnetic levitation systems, microelectromechanical systems (MEMS) and rigid robot manipulators actuated by AC motors.
The novel passivity-based approach exploits the fact that the natural energy exchange existing between the mechanical and the electrical subsystems allows the natural cancellation of several high order terms during the stability analysis. This allows the authors to present some of the simplest controllers proposed in scientific literature, but provided with formal stability proofs. These simple control laws will be of use to practitioners as they are robust with respect to numerical errors and noise amplification, and are provided with tuning guidelines.Energy-based Control of Electromechanical Systems is intended for both theorists and practitioners. Therefore, the stability proofs are not based on abstract mathematical ideas but Lyapunov stability theory. Several interpretations of the proofs are given along the body of the book using simple energy ideas and the complete proofs are included in appendices. The complete modeling of each motor studied is also presented, allowing for a thorough understanding.
Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Presents a novel passitivity-based methodology to simplify controller design for AC motors Demonstrates the approaches application to numerous AC motor types Includes formal stability proofs and tuning guidelines to support the use of these methods by practitioners
Autor*in
Victor Manuel Hernández-Guzmán
Themen in »Energy-Based Control of Electromechanical Systems«
Lyapunov Stability Control of Electromechanical Systems AC-Motor Control Passivity-Based Control Position and Velocity Control Field Oriented Control Standard Control of AC Motors AC Motor Modeling Electric Motors Advanced Motor Control