Loading...

Disturbance Reduction Servo Motor Controller Design and Implementation

Ahi, Behzad | 2015

484 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47500 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Nobakhti, Amin
  7. Abstract:
  8. The servomechanisms have wide industrial application such as robotics, Computer Numerical Control (CNC) machines, automated manufacturing and solar tracking. Several methods have already been proposed for servo motor control that the most important of them are Proportional Integral Derivative (PID), H2/H--, intelligent based controllers, and model predictive control. Problem specifications and user requirements, will determine the appropriate approach in each case. The aim of this thesis is construction of a real-life camera stabilizer to be used in the motion picture industry. Effects of base movement on the performance should be decreased by choosing appropriate sensors and control algorithms. The method to be implemented in this thesis is the Active Disturbance Rejection Control (ADRC) method which is an emerging and powerful disturbing rejection control system design method. First, the complete model of one axis gimbal stabilizer (regarding different sources of disturbance) is proposed and the system parameters are identified using system identication. Second, PI and ADRC controllers are designed and compared under various operational experiments. The simulation and implementation results show ADRC controller can effectively inhibit the disturbances and improves transient and steady state performance. Direct Current (DC) brushed torque motor, optical encoder and gyroscope are the main parts of system. The controller is implemented on Digital Signal Processor (DSP) board
  9. Keywords:
  10. Stabilizers ; Disturbance Rejection ; Servomotors ; Active Disturbance Rejection Control (ADRC)

 Digital Object List

 Bookmark

No TOC