Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation has been considered in controller design in various ways, e.g., antiwindup control. In addition to the input, the state variables of mechanical systems are often subjected to saturation. For example, the maximum angular velocity of electric motor systems is limited by the maximum voltage provided to the motor windings. In the case of electronically commutated motors (i.e., brushless dc motors), the maximum speed is additionally constrained by limitations of the servo amplifier output. If gears are utilized, further constraints are introduced due to resonances in ball bearings and/or velocity dependent friction. Although such factors are significant in practice, they have not been fully considered in controller design. This paper investigates the input and output saturations, and presents how they may be considered in the controller design; a Kalman filter, a PID controller, and a disturbance observer are designed, taking input/output saturations into consideration. A case study is provided to verify the proposed methods.
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e-mail: kckong@me.berkeley.edu
e-mail: helge.kniep@tuhh.de
e-mail: tomizuka@me.berkeley.edu
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September 2010
Research Papers
Output Saturation in Electric Motor Systems: Identification and Controller Design
Kyoungchul Kong,
Kyoungchul Kong
Department of Mechanical Engineering,
e-mail: kckong@me.berkeley.edu
University of California, Berkeley
, Berkeley, CA 94720
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Helge C. Kniep,
Helge C. Kniep
Department of Mechanics and Ocean Engineering,
e-mail: helge.kniep@tuhh.de
Technische Universität
, Hamburg-Harburg 94720, Germany
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Masayoshi Tomizuka
Masayoshi Tomizuka
Department of Mechanical Engineering,
e-mail: tomizuka@me.berkeley.edu
University of California, Berkeley
, Berkeley, CA 94720
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Kyoungchul Kong
Department of Mechanical Engineering,
University of California, Berkeley
, Berkeley, CA 94720e-mail: kckong@me.berkeley.edu
Helge C. Kniep
Department of Mechanics and Ocean Engineering,
Technische Universität
, Hamburg-Harburg 94720, Germanye-mail: helge.kniep@tuhh.de
Masayoshi Tomizuka
Department of Mechanical Engineering,
University of California, Berkeley
, Berkeley, CA 94720e-mail: tomizuka@me.berkeley.edu
J. Dyn. Sys., Meas., Control. Sep 2010, 132(5): 051002 (8 pages)
Published Online: August 11, 2010
Article history
Received:
April 23, 2009
Revised:
April 29, 2010
Online:
August 11, 2010
Published:
August 11, 2010
Citation
Kong, K., Kniep, H. C., and Tomizuka, M. (August 11, 2010). "Output Saturation in Electric Motor Systems: Identification and Controller Design." ASME. J. Dyn. Sys., Meas., Control. September 2010; 132(5): 051002. https://doi.org/10.1115/1.4001792
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