This paper presents an inversion-based approach to the design of a dc motor-position servo system. Specifically, using the recently developed transition polynomials, a dynamic inversion procedure is established to determine a feedforward command signal to achieve high-performance position transfers. It is shown how to improve a traditional proportional and derivative controller feedback scheme and how a coordinated feedforward/feedback design using the new approach further improves the servo performances. Moreover, the methodology can easily comply with a voltage saturation avoidance constraint. Experimental results on a standard test bench highlight the effectiveness of the dynamic inversion idea.

A servo control system design using dynamic inversion / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - 10, NO. 8:(2002), pp. 847-855. [10.1016/S0967-0661(02)00036-9]

A servo control system design using dynamic inversion

GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio
2002-01-01

Abstract

This paper presents an inversion-based approach to the design of a dc motor-position servo system. Specifically, using the recently developed transition polynomials, a dynamic inversion procedure is established to determine a feedforward command signal to achieve high-performance position transfers. It is shown how to improve a traditional proportional and derivative controller feedback scheme and how a coordinated feedforward/feedback design using the new approach further improves the servo performances. Moreover, the methodology can easily comply with a voltage saturation avoidance constraint. Experimental results on a standard test bench highlight the effectiveness of the dynamic inversion idea.
2002
A servo control system design using dynamic inversion / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - 10, NO. 8:(2002), pp. 847-855. [10.1016/S0967-0661(02)00036-9]
File in questo prodotto:
File Dimensione Formato  
guapia02a.pdf

non disponibili

Tipologia: Documento in Post-print
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 247.92 kB
Formato Adobe PDF
247.92 kB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/1459760
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 25
  • ???jsp.display-item.citation.isi??? 19
social impact