Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load

Nardi Verbanac; Neven Bulic; Gerald Jungmayr; Edmund Marth

doi:10.1109/SST55530.2022.9954787

Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load

Nardi Verbanac, Neven Bulic, Gerald Jungmayr, Edmund Marth

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

Magnetic gears (MGs) emerged as an attractive alternative to conventional mechanical gears and their application in different fields, including servo drives, is already being considered. However, high-performance control of magnetic-geared drives is not an easy task due to the low stiffness and highly nonlinear characteristics of MGs. This paper presents a nonlinear approach to position control of magnetic-geared servo drives based on exact feedback linearization and load torque estimation. Simulation results show that the proposed nonlinear controller exhibits excellent tracking and disturbance rejection properties, and that it ensures the same high-performance dynamic behaviour in the entire operating region of the drive.

Original language	English
Title of host publication	2022 International Conference on Smart Systems and Technologies (SST)
Editors	Emmanuel Karlo Nyarko, Tomislav Matic, Robert Cupec, Mario Vranjes
Pages	263-268
Number of pages	6
ISBN (Electronic)	9781665482158
DOIs	https://doi.org/10.1109/SST55530.2022.9954787
Publication status	Published - 2022

Fields of science

202036 Sensor systems
203 Mechanical Engineering
101 Mathematics
102 Computer Sciences
202 Electrical Engineering, Electronics, Information Engineering
202009 Electrical drive engineering
202027 Mechatronics
202034 Control engineering
203033 Hydraulic drive technology

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10.1109/SST55530.2022.9954787

Cite this

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title = "Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load",

abstract = "Magnetic gears (MGs) emerged as an attractive alternative to conventional mechanical gears and their application in different fields, including servo drives, is already being considered. However, high-performance control of magnetic-geared drives is not an easy task due to the low stiffness and highly nonlinear characteristics of MGs. This paper presents a nonlinear approach to position control of magnetic-geared servo drives based on exact feedback linearization and load torque estimation. Simulation results show that the proposed nonlinear controller exhibits excellent tracking and disturbance rejection properties, and that it ensures the same high-performance dynamic behaviour in the entire operating region of the drive.",

author = "Nardi Verbanac and Neven Bulic and Gerald Jungmayr and Edmund Marth",

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doi = "10.1109/SST55530.2022.9954787",

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Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load. / Verbanac, Nardi; Bulic, Neven; Jungmayr, Gerald et al.
2022 International Conference on Smart Systems and Technologies (SST). ed. / Emmanuel Karlo Nyarko; Tomislav Matic; Robert Cupec; Mario Vranjes. 2022. p. 263-268.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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T1 - Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load

AU - Verbanac, Nardi

AU - Bulic, Neven

AU - Jungmayr, Gerald

AU - Marth, Edmund

PY - 2022

Y1 - 2022

N2 - Magnetic gears (MGs) emerged as an attractive alternative to conventional mechanical gears and their application in different fields, including servo drives, is already being considered. However, high-performance control of magnetic-geared drives is not an easy task due to the low stiffness and highly nonlinear characteristics of MGs. This paper presents a nonlinear approach to position control of magnetic-geared servo drives based on exact feedback linearization and load torque estimation. Simulation results show that the proposed nonlinear controller exhibits excellent tracking and disturbance rejection properties, and that it ensures the same high-performance dynamic behaviour in the entire operating region of the drive.

AB - Magnetic gears (MGs) emerged as an attractive alternative to conventional mechanical gears and their application in different fields, including servo drives, is already being considered. However, high-performance control of magnetic-geared drives is not an easy task due to the low stiffness and highly nonlinear characteristics of MGs. This paper presents a nonlinear approach to position control of magnetic-geared servo drives based on exact feedback linearization and load torque estimation. Simulation results show that the proposed nonlinear controller exhibits excellent tracking and disturbance rejection properties, and that it ensures the same high-performance dynamic behaviour in the entire operating region of the drive.

UR - https://www.scopus.com/pages/publications/85143990119

U2 - 10.1109/SST55530.2022.9954787

DO - 10.1109/SST55530.2022.9954787

M3 - Conference proceedings

SP - 263

EP - 268

BT - 2022 International Conference on Smart Systems and Technologies (SST)

A2 - Nyarko, Emmanuel Karlo

A2 - Matic, Tomislav

A2 - Cupec, Robert

A2 - Vranjes, Mario

ER -

Nonlinear Position Control of a Magnetic-Geared Servo Drive With Unknown Load

Abstract

Fields of science

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