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A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot

Published online by Cambridge University Press:  08 February 2023

Shengchao Zhen ,
Yangyang Li Open the ORCID record for Yangyang Li [Opens in a new window] ,
Xiaoli Liu Open the ORCID record for Xiaoli Liu [Opens in a new window] ,
Jun Wang ,
Feng Chen  and
Xiaofei Chen
Shengchao Zhen
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China Anhui Artificial Intelligence Laboratory, Hefei University of Technology, Hefei, Anhui 230009, PR China
Yangyang Li
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
Xiaoli Liu*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
Jun Wang
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
Feng Chen
Affiliation:
Institute of Advanced Manufacturing Engineering, Hefei University, Hefei, Anhui 230022, PR China
Xiaofei Chen*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui 230009, PR China
*
*Corresponding authors. E-mail: xiaolihfut@qq.com, 492486492@qq.com
*Corresponding authors. E-mail: xiaolihfut@qq.com, 492486492@qq.com
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Abstract

In order to decrease the influence of system parameters and load on the dynamic performance of permanent magnet synchronous motor (PMSM) in cooperative robot joint modules, a practical model-based robust control method was proposed. It inherits the traditional proportional-integral-derivative (PID) control and robust control based on error and model-based control. We first set up the nominal controller using the dynamics model. In order to limit the influence of uncertainty on dynamic performance, a robust controller is established based on Lyapunov method. The control can be regarded as an improved PID control or a redesigned robust control. Compared with the traditional control method, it is simple to implement and has practical effects. It is proved by theoretical analysis that the controller can guarantee the uniform boundedness and uniform final boundedness of the system. In addition, the prototype of fast controller cSPACE is built on the experiment platform, which averts long-time programming and debugging. It offers immense convenience for practical operation. Finally, numerical simulation and real-time experiment results are presented. Based on cSPACE and a PMSM in the joint module of a practical cooperative robot, the availability of the control design and the achievable control performance are verified.

Keywords

model-based robust controlLyapunov methodpermanent magnet synchronous motoruncertainty
Type
Research Article
Information
Robotica , Volume 41 , Issue 5 , May 2023 , pp. 1389 - 1406
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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