A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

Milan A. Sheta; Vivek Agarwal; Paluri S. V. Nataraj

doi:10.1007/s11633-009-0267-4

August 2009

Article Contents

Milan A. Sheta, Vivek Agarwal and Paluri S. V. Nataraj. A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive. International Journal of Automation and Computing, vol. 6, no. 3, pp. 267-276, 2009. doi: 10.1007/s11633-009-0267-4

Cite as: Milan A. Sheta, Vivek Agarwal and Paluri S. V. Nataraj. A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive. International Journal of Automation and Computing, vol. 6, no. 3, pp. 267-276, 2009. doi: 10.1007/s11633-009-0267-4

A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

1.
Systems and Control Engineering, Indian Institute of Technology Bombay, India;
2.
Department of Electrical Engineering, Indian Institute of Technology Bombay, India

Received: 2008-02-18

Abstract

This paper considers minimization of resistive and frictional power dissipation in a separately excited DC motor based incremental motion drive (IMD). The drive is required to displace a given, fixed load through a definite angle in specified time, with minimum energy dissipation in the motor windings and minimum frictional losses. Accordingly, an energy optimal (EO) control strategy is proposed in which the motor is first accelerated to track a specific speed profile for a pre-determined optimal time period. Thereafter, both armature and field power supplies are disconnected, and the motor decelerates and comes to a halt at the desired displacement point in the desired total displacement time. The optimal time period for the initial acceleration phase is computed so that the motor stores just enough energy to decelerate to the final position at the specified displacement time. The parameters, such as the moment of inertia and coeficient of friction, which depend on the load and other external conditions, have been obtained using system identification method. Comparison with earlier control techniques is included. The results show that the proposed EO control strategy results in significant reduction of energy losses compared to the existing ones.
- Energy optimal control,
- speed profile,
- incremental motion drive (IMD)

References

[1]	C.K.Lai,K.K.Shyu.A Novel Motor Drive Design for Incremental Motion System via Sliding-mode Control Method.IEEE Transactions on Industrial Electronics,vol.52,no.2,pp.499-507,2005.
[2]	J.Tal,S.Kahne.Control and Component Selection for Incremental Motion Systems.Automatica,vol.9,pp.501-507,1973.
[3]	C.C.Chan,R.Zhang,K.T.Chau,J.Z.Jiang.Optimal Efficiency Control of PM Hybrid Motor Drives for Electrical Vehicles.In Proceedings of the 28th Annual IEEE Power Electronics Specialists Conference,vol.1,pp.363-368,1997.
[4]	J.Holtz,L.Springob.Identification and Compensation of Torque Ripple in High Precision Permanent Magnet Motor Drives.IEEE Transactions on Industrial Electronics,vol.43,no.2,pp.309-320,1996.
[5]	P.Pillay,R.Krishnan.Modeling,Simulation,and Analysis of Permanent-magnet Motor Drives-Part 1:The Permanent-magnet Synchronous Motor Drive.IEEE Transactions on Industry Applications,vol.25,no.2,pp.274-279,1989.
[6]	G.Zhang,A.Schmidhofer,A.Schmid.Efficiency Optimisation at DC Drives for Small Electrical Vehicles.In Proceedings of IEEE International Conference on Industrial Technology,IEEE Press,vol.2,pp.1150-1155,2003.
[7]	E.E.EI-kholy,S.S.Shokxalla,A.H.Morsi,S.A.EI-Absawy.Improved Performance of Rolling Mill Drives Using Hybrid Fuzzy-PI Controller.In Proceedings of the 5th International Conference on Power Electronics and Drive Systems,IEEE Press,vol.2,pp.1010-1015,2003.
[8]	T.Egami,J.Wang,T.Tsuchiya.Efficiency Optimized Speed Control System Synthesis Method Based on Improved Optimal Regulator Theory-Application to Separately Excited DC Motor System.IEEE Transactions on Industrial Electronics,vol.IE-32,no.4,pp.372-380,1985.
[9]	A.Kusko,D.Galler.Control Means for Minimization of Losses in AC and DC Motor Drives.IEEE Transactions on Industry Applications,vol.IA-19,no.4,pp.561-570,1983.
[10]	S.Murtuza,N.Narasimhamurthi,S.T.Dilodovico.DC Servo Control-academic and Real.In Proceedings of the American Control Conference,IEEE Press,vol.3,pp.2036-2037,1995.
[11]	R.N.Danbury.Servomechanisms for Incremental Motion:Power Dissipation Considerations.Mechatronics,vol.4,no.1,pp.25-36,1994.
[12]	A.M.Trzynadlowski.Energy Optimization of a Certain Class of Incremental Motion DC Drives.IEEE Transactions on Industrial Electronics,vol.35,no.1,pp.60-66,1988.
[13]	F.J.Zheng,G.Cook.Energy Optimal Control for Steel Rolling.IEEE Transactions on Industrial Electronics,vol.IE-32,no.4,pp.388-392,1985.
[14]	J.C.Brierley,R.E.Colyer,A.M.Trzynadlowski.The "SOAR" Method for Computer Aided Design of Energyoptimal Positioning DC Drive Systems.In Proceedings of Industry Applications Society Annual Meeting,IEEE Press,vol.1,pp.464-467,1989.
[15]	E.R.Pinch.Optimal Control and the Calculus of Variations,Oxford University Press Inc.,New York,USA,1993.
[16]	I.J.Nagrath,M.Gopal.Control Systems Engineering,New Age International Ltd.,New Delhi,India,1989.

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1.
沈阳化工大学材料科学与工程学院沈阳 110142

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A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

1. Systems and Control Engineering, Indian Institute of Technology Bombay, India;

2. Department of Electrical Engineering, Indian Institute of Technology Bombay, India

Received: 2008-02-18

Key words:

Abstract: This paper considers minimization of resistive and frictional power dissipation in a separately excited DC motor based incremental motion drive (IMD). The drive is required to displace a given, fixed load through a definite angle in specified time, with minimum energy dissipation in the motor windings and minimum frictional losses. Accordingly, an energy optimal (EO) control strategy is proposed in which the motor is first accelerated to track a specific speed profile for a pre-determined optimal time period. Thereafter, both armature and field power supplies are disconnected, and the motor decelerates and comes to a halt at the desired displacement point in the desired total displacement time. The optimal time period for the initial acceleration phase is computed so that the motor stores just enough energy to decelerate to the final position at the specified displacement time. The parameters, such as the moment of inertia and coeficient of friction, which depend on the load and other external conditions, have been obtained using system identification method. Comparison with earlier control techniques is included. The results show that the proposed EO control strategy results in significant reduction of energy losses compared to the existing ones.

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[1]	C.K.Lai,K.K.Shyu.A Novel Motor Drive Design for Incremental Motion System via Sliding-mode Control Method.IEEE Transactions on Industrial Electronics,vol.52,no.2,pp.499-507,2005.
[2]	J.Tal,S.Kahne.Control and Component Selection for Incremental Motion Systems.Automatica,vol.9,pp.501-507,1973.
[3]	C.C.Chan,R.Zhang,K.T.Chau,J.Z.Jiang.Optimal Efficiency Control of PM Hybrid Motor Drives for Electrical Vehicles.In Proceedings of the 28th Annual IEEE Power Electronics Specialists Conference,vol.1,pp.363-368,1997.
[4]	J.Holtz,L.Springob.Identification and Compensation of Torque Ripple in High Precision Permanent Magnet Motor Drives.IEEE Transactions on Industrial Electronics,vol.43,no.2,pp.309-320,1996.
[5]	P.Pillay,R.Krishnan.Modeling,Simulation,and Analysis of Permanent-magnet Motor Drives-Part 1:The Permanent-magnet Synchronous Motor Drive.IEEE Transactions on Industry Applications,vol.25,no.2,pp.274-279,1989.
[6]	G.Zhang,A.Schmidhofer,A.Schmid.Efficiency Optimisation at DC Drives for Small Electrical Vehicles.In Proceedings of IEEE International Conference on Industrial Technology,IEEE Press,vol.2,pp.1150-1155,2003.
[7]	E.E.EI-kholy,S.S.Shokxalla,A.H.Morsi,S.A.EI-Absawy.Improved Performance of Rolling Mill Drives Using Hybrid Fuzzy-PI Controller.In Proceedings of the 5th International Conference on Power Electronics and Drive Systems,IEEE Press,vol.2,pp.1010-1015,2003.
[8]	T.Egami,J.Wang,T.Tsuchiya.Efficiency Optimized Speed Control System Synthesis Method Based on Improved Optimal Regulator Theory-Application to Separately Excited DC Motor System.IEEE Transactions on Industrial Electronics,vol.IE-32,no.4,pp.372-380,1985.
[9]	A.Kusko,D.Galler.Control Means for Minimization of Losses in AC and DC Motor Drives.IEEE Transactions on Industry Applications,vol.IA-19,no.4,pp.561-570,1983.
[10]	S.Murtuza,N.Narasimhamurthi,S.T.Dilodovico.DC Servo Control-academic and Real.In Proceedings of the American Control Conference,IEEE Press,vol.3,pp.2036-2037,1995.
[11]	R.N.Danbury.Servomechanisms for Incremental Motion:Power Dissipation Considerations.Mechatronics,vol.4,no.1,pp.25-36,1994.
[12]	A.M.Trzynadlowski.Energy Optimization of a Certain Class of Incremental Motion DC Drives.IEEE Transactions on Industrial Electronics,vol.35,no.1,pp.60-66,1988.
[13]	F.J.Zheng,G.Cook.Energy Optimal Control for Steel Rolling.IEEE Transactions on Industrial Electronics,vol.IE-32,no.4,pp.388-392,1985.
[14]	J.C.Brierley,R.E.Colyer,A.M.Trzynadlowski.The "SOAR" Method for Computer Aided Design of Energyoptimal Positioning DC Drive Systems.In Proceedings of Industry Applications Society Annual Meeting,IEEE Press,vol.1,pp.464-467,1989.
[15]	E.R.Pinch.Optimal Control and the Calculus of Variations,Oxford University Press Inc.,New York,USA,1993.
[16]	I.J.Nagrath,M.Gopal.Control Systems Engineering,New Age International Ltd.,New Delhi,India,1989.

A New Energy Optimal Control Scheme for a Separately Excited DC Motor Based Incremental Motion Drive

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