TY - JOUR
T1 - A methodology for identification and control of electro-mechanical actuators
AU - Tutunji, Tarek A.
AU - Saleem, Ashraf
N1 - Publisher Copyright:
© 2015 The Authors.
PY - 2015/1/1
Y1 - 2015/1/1
N2 - Abstract Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.Combines off-line and on-line controller design for practical performance.Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.
AB - Abstract Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants' response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions: Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.Combines off-line and on-line controller design for practical performance.Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers). Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.
KW - Electro-mechanical actuators
KW - Hardware-in-the-Loop
KW - Mechatronics
KW - System identification
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U2 - 10.1016/j.mex.2015.04.001
DO - 10.1016/j.mex.2015.04.001
M3 - Article
AN - SCOPUS:84929998688
SN - 2215-0161
VL - 2
SP - 219
EP - 231
JO - MethodsX
JF - MethodsX
M1 - 76
ER -