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Full Description
In this book, modeling and control design of electric motors, namely step motors, brushless DC motors and induction motors, are considered. The book focuses on recent advances on feedback control designs for various types of electric motors, with a slight emphasis on stepper motors. For this purpose, the authors explore modeling of these devices to the extent needed to provide a high-performance controller, but at the same time one amenable to model-based nonlinear designs. The control designs focus primarily on recent robust adaptive nonlinear controllers to attain high performance. It is shown that the adaptive robust nonlinear controller on its own achieves reasonably good performance without requiring the exact knowledge of motor parameters. While carefully tuned classical controllers often achieve required performance in many applications, it is hoped that the advocated robust and adaptive designs will lead to standard universal controllers with minimal need for fine tuning of control parameters.
Contents
1 Introduction.- 2 Dual-Axis Linear Stepper (Sawyer) Motors.- 3 Modeling of Stepper Motors.- 4 Stepping.- 5 Feedback Linearization and Application to Electric Motors.- 6 Robust Adaptive Control of a Class of Nonlinear Systems.- 7 Robust Adaptive Control of Stepper Motors.- 8 Current Control of Stepper Motors Using Position Measurements Only.- 9 Voltage Control of Stepper Motors Using Position and VelocityMeasurements.- 10 Voltage Control of PM Stepper Motors Using Position Measurement Only.- 11 Brushless DC Motors.- 12 Induction Motor: Modeling and Control.- 13 Adaptive Control of Induction Motors.- 14 Passivity-Based Control of Electric Motors.- 15 Torque Ripple Reduction for Step Motors.- 16 Friction Compensation in Servo-Drives.- A Fundamentals of AC Machines.- B.1 Case of Position-Only Dependent Transformations.- C Torque Maximization with Current and Voltage Constraints (Field Weakening).- C.1 Low-Speed Range.- C.2 High-Speed Range.- C.3 Intermediate-Speed Range.- C.4 Transition Speeds.- D Stable System Inversion.- E Lyapunov Stability Theorems.- F Backstepping.- G Input-to-State Stability and Nonlinear Small Gain.
