An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

Jie Li, Haibo Yu, Yanbo Wang, Zhe Chen, Bokai Xuan

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.
OriginalsprogEngelsk
TitelProceedings of 2019 Chinese Intelligent Automation Conference
Antal sider9
ForlagSpringer
Sider629-637
StatusE-pub ahead of print - aug. 2019
BegivenhedChinese Intelligent Automation Conference, CIAC - Yangzhou, Kina
Varighed: 23 aug. 201325 aug. 2013

Konference

KonferenceChinese Intelligent Automation Conference, CIAC
LandKina
ByYangzhou
Periode23/08/201325/08/2013

Fingerprint

Tuning
Robots
Controllers
Three term control systems
Sliding mode control
MATLAB
Control systems

Citer dette

Li, J., Yu, H., Wang, Y., Chen, Z., & Xuan, B. (2019). An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. I Proceedings of 2019 Chinese Intelligent Automation Conference (s. 629-637). Springer.
Li, Jie ; Yu, Haibo ; Wang, Yanbo ; Chen, Zhe ; Xuan, Bokai. / An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. Proceedings of 2019 Chinese Intelligent Automation Conference . Springer, 2019. s. 629-637
@inproceedings{2ddfe1987bd1429e85b81d39aa7950e2,
title = "An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller",
abstract = "Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.",
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author = "Jie Li and Haibo Yu and Yanbo Wang and Zhe Chen and Bokai Xuan",
year = "2019",
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language = "English",
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booktitle = "Proceedings of 2019 Chinese Intelligent Automation Conference",
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Li, J, Yu, H, Wang, Y, Chen, Z & Xuan, B 2019, An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. i Proceedings of 2019 Chinese Intelligent Automation Conference . Springer, s. 629-637, Chinese Intelligent Automation Conference, CIAC, Yangzhou, Kina, 23/08/2013.

An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. / Li, Jie; Yu, Haibo; Wang, Yanbo; Chen, Zhe; Xuan, Bokai.

Proceedings of 2019 Chinese Intelligent Automation Conference . Springer, 2019. s. 629-637.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

AU - Li, Jie

AU - Yu, Haibo

AU - Wang, Yanbo

AU - Chen, Zhe

AU - Xuan, Bokai

PY - 2019/8

Y1 - 2019/8

N2 - Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.

AB - Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.

KW - Joint motor

KW - Sliding motor controller

KW - Parameter tuning

KW - Iteration

M3 - Article in proceeding

SP - 629

EP - 637

BT - Proceedings of 2019 Chinese Intelligent Automation Conference

PB - Springer

ER -

Li J, Yu H, Wang Y, Chen Z, Xuan B. An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. I Proceedings of 2019 Chinese Intelligent Automation Conference . Springer. 2019. s. 629-637