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Positioning Control System Design Considering Mechatronic Module Torque

Loop Response Time

Conference Paper · October 2018

DOI: 10.1109/ICEPDS.2018.8571891

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 2018 X International Conference on Electrical Power Drive Systems (ICEPDS)

Positioning Control System Design Considering

Mechatronic Module Torque Loop Response Time
Sergey Lebedev Mihail Kulenko
Department of Electric Drives Department of Electric Drives
Ivanovo State Power University Ivanovo State Power University
Ivanovo, Russia Ivanovo, Russia
lebedev@drive.ispu.ru
Nikolay Gnezdov
Alexey Kolganov Department of Electric Drives
Department of Electric Drives Ivanovo State Power University
Ivanovo State Power University Ivanovo, Russia
Ivanovo, Russia

Abstract – The study is devoted to the position control system function W f for zeros compensation of the positioning system
synthesis for electromechanic modules with a specified dynamics
and taking into account the motor torque loop time response. TF is used at the regulator input when required.
Mathematical models in the state equations form, characteristic The most efficient structures of modified PID regulators
polynomials, and transfer matrices for systems with position [3,4] have been selected for positioning system synthesis. The
regulators are obtained. It makes possible to ensure the system output torque reference Qr is formed according to the
dynamics corresponding to the Bessel polynomials with an
acceptable bandwidth value. Synthesis and analysis of following relationships:
perfomances are carried out using the MathCAD's symbolic
mathematics. The principles of regulators fixed adjustment
providing the position control system robustness in presence of
the mechanics inertia variation are developed.

Keywords – mechatronics, closed loop systems control design,

control system synthesis, motor drives, position control, regulators,
robust control
Fig. 1. Mechatronics module position control system.
I. INTRODUCTION
• P(D)- regulator for static EPCM –
Electromechanic position control modules (EPCM) based
on state-of-the-art vector controlled AC drives have a wide
scope of application from fundamental industries (power ( )
Qr = k p qrf − q + kd q ; (1)
engineering, machinery building and military industry) up to
pipeline accessories in housing and utility services. Severe • PI(D)- regulator for astatic EPCM with 1st order astatism –
requirements for EPCM characteristics are in machine tool
technology and robotics [1, 2]. Therefore, the improvement of  k 
such systems has a priority for automated electric drive
 s
( )
Qr =  k p + i  qrf − q + kd q ; (2)
professionals.
The block diagram of EPCM is shown in Fig.1. The • PI2I(D)- regulator for EPCM with 2nd order astatism –
control object is the model of electric drive "rigid" mechanics
 k k 
with an inertial coefficient kin and equivalent link of the
torque loop Q in the vector controlled system with a transfer  s s 
( )
Qr =  k p + i1 + i22  qrf − q + kd q , (3)

function (TF) – WQ , where kQ , TQ – the parameters of the
circuit. EPCM with closed-loop position q control system
based on the position regulator RP ensures the control in
response to position reference signal qr under conditions of
variable mechanical loads QL . The filter with a transfer
where k p , ki , ki1 , ki 2 , kd – position regulator parameters, q –
rate of position change.
A synthesis procedure and fixed adjustment of the
positioning system according to the Bessel dynamics are
proposed in [3] for regulators (1) – (3) with the assumption of
time-lag-free torque loop. The purpose of this study is to
develop an algorithm for the synthesis of regulators, taking
into account the finite value of the torque loop response time.
In addition, it is necessary to investigate the characteristics of
synthesized positioning systems for the regulator fixed
adjustment determination. In presence of the mechanics inertia
variation it ensures robustness increasing the efficiency of
EPCM application in robotics.
II. THE REGULATORS SYNTHESIS
A special feature of the positioning systems synthesis is
the application of the state equation that is more often used in
the implementation of modal control [5-7]
d → → →
X = A X + BU ,
dt
→ →
where X , U – state and input vectors, A , B – state and
input matrices.
For all regulators synthesis process we assume the torque
loop gain to be equal to unity.
Consider obtaining P(D) position regulator parameters
providing the Bessel dynamics [8, 9] taking into account the
torque loop response time. For P(D)- regulator, the state
equation components (4) take the following form:
q
→ →  qrf 
X =  q  ; U =   ;
Q   QL 
This equation allows to assume that the system dynamics
is determined only by the poles of the TF, and the zeros of the
TF are absent. Then the TF of the P(D)-regulator input filter
W f ( s) = 1 ,
and the transfer function on the control signal is defined by the
following expression
q( s )
H11+ f ( s) = = H11( s)W f ( s) = H11 ( s) . (10)
qr ( s)
The 3rd order Bessel characteristic polynomial can be
choosen as a reference dynamics for P(D)-regulator system
(4)
hp* ( s ) = s3 + 3.797ω pb s 2 + 6.007ω2pb s + 3.801ω3pb , (11)
where ω pb – system bandwidth according to requirements for
electric drives of machine tools and robots [1].
The polynomials (7) and (11) will be identical when the
factors of the same powers of s are equal. From the
coefficients equality the expressions for P(D)-regulator
parameters determination are obtained.
k p = 3.801ω3pb kinTQ ; kd = 6.007ω2pb kinTQ . (12)
In addition the bandwidth of the system is determined. In
(5) this case it does not depend on the module inertial coefficient
( kin ), but on the torque loop response time ( TQ )

0.2633
 0 1 0   0 0  ω pb = . (13)
 1   −1 
TQ
 0 0   0 
A= kin  ; B =  kin  . (6) Let us assume TQ = 0.001 s [1], then the system bandwidth
   
 −k p − kd −1   kp 0 
will be
 TQ TQ TQ   TQ 
  
rad ω pb
ω pb = 263.36 ; f pb = = 41.92 Hz . (14)
Using state and input matrices A and B (6) it's possible to s 2π
define the characteristic polynomial (hp) and the transfer
(equivalent) matrix (TM): It should be noted that in most cases the requirements for
the position loop passband in positioning systems are in the
range of 5÷15 Hz [2]. Thus, the performed synthesis ensures
1 2 k kp the Bessel dynamics system implementation with an
hp ( s ) = det ( sE − A ) = s 3 + s + d s+ ; (7)
TQ kinTQ kinTQ acceptable level of performance.
From (8) the transfer function on the disturbance signal
 H11 ( s ) H12 ( s)  can be obtained
H eq ( s) = ( sE − A ) B =  H 21 ( s) H 22 ( s)  .
−1
(8)
 H 23 ( s) H 32 ( s)  H12 ( s ) =
q( s )
=
(
− TQ s + 1 ) , (15)
QL ( s ) TQ kin s + kin s 2 + kd s + k p
3

From (8) the transfer function on the control signal can be

obtained which shows the presence of static positioning error, depends
just on the k p value, typical for P(D)-regulator systems.
q( s ) kp
H11 ( s ) = = . (9)
qrf ( s ) TQ kin s + kin s 2 + kd s + k p
3

Fig. 2. Astatic position regulators.
The regulator structures formed for positioning systems
with PI(D) and PI2I(D) position regulators in accordance with
(2) and (3) are shown in Fig. 2. Here the outputs of the
integrators ( Qi , Qi1 , Qi 2 ) are also indicated to form the state
equations.
As a result of the algorithm determined by (5) – (14) for
PI(D) and PI2I(D) position regulators, mathematical models
in the form of state equations, characteristic polynomial and
the transfer matrix were created, and the regulator parameters
and bandwidths were determined. The received bandwidth
values for astatic regulators show the success of synthesis
taking into account the torque loop response time, since the
synthesis guarantees the correspondence of the positioning
processes to the Bessel dynamics with the high quality of the
system in terms of high speed response. The results of
calculations for astatic positioning systems with PI(D) and
PI2I(D) regulators are tabulated in Tables I, II.

TABLE I. ASTATIC REGULATOR POSITIONING SYSTEMS PARAMETERS

→ →
RP X U A B H11 (s) , H12 (s)

 0 1 0 0   0 0 
 1   −1 
k p s + ki
q  0 0 0   0 H11 ( s ) =
  qrf   kin   kin  TQ kin s 4 + kin s 3 + kd s 2 + k p s + ki
PI(D) q      
Q 
 
 QL   −k p
T
− kd −1 1  kp 0  H12 ( s ) =
(
− s TQ s + 1 )
Qi  TQ TQ TQ  T 
 Q   Q  TQ kin s + kin s 3 + kd s 2 + k p s + ki
4
 − ki 0 0 0   ki 0 

 0 1 0 0 0  0 0 
   
 q   0 1 −1  k p s 2 + ki1s + ki 2
0 0 0  0
    kin   kin  H11( s) =
 q   qrf      TQ kin s + kin s 4 + kd s 3 + k p s 2 + ki1s + ki 2
5
PI2I(D) Q    −k p −kd −1 1 kp
   QL  T 0 T
0 
 − s 2 (Tm s + 1)
 Qi1  TQ TQ TQ H12 ( s ) =
Q   Q   Q 
 i2   −ki1 0 0 0 1  ki1 0  TQ kin s5 + kin s 4 + k d s3 + k p s 2 + ki1s + ki 2
   
 − ki 2 0 0 0 0  ki 2 0 

TABLE II. ASTATIC POSITIONING SYSTEM REGULATORS PARAMETERS

RP Wf (s) hp(s) hp* (s) Parameters fpb , Hz

k p = 27.43ω3pbkinTQ

ki = 17.53ω 4pbkinTQ
ki 4 1 3 k kp k s 4 + 6.392ω pb s 3 + 18.359ω2pb s 2 +
PI(D) s + s + d s2 + s+ i 24.9
k p s + ki TQ kinTQ kinTQ kinTQ kd = 18.39ω2pbkinTQ
+27.428ω3pb s + 17.533ω 4pb
0.1564
ω pb =
TQ

k p = 106.91ω3pb kinTQ

kp 2 ki1 = 152.45ω 4pbkinTQ

s5 +
1 4 k
s + d s3 + s + s5 + 9.506ω pb s 4 + 42.173ω 2pb s 3 +
ki 2 TQ kinTQ kinTQ ki 2 = 96.62ω5pbkinTQ
PI2I(D) 2 +106.911ω3pb s 2 + 152.453ω4pb s + 16.74
k p s + ki1s + ki 2 ki1 k
+ s + i2 kd = 42.18ω2pbkinTQ
kinTQ kinTQ +96.621ω5pb
0.1051
ω pb =
TQ
 All operations on mathematical models development and
the definition of expressions to calculate the regulator
parameters are carried out using the possibilities of
MathCAD's symbolic mathematics.

III. POSITIONING SYSTEM ANALYSIS

At a constant kin value EPCM control characteristics will
be determined by the Bessel dynamics adjustment, and the
disturbance characteristics will be determined by the
positioning system deviation [1,3]. But in many EPCM
application, especially in industrial robots [1], kin value varies
widely.
In positioning systems synthesized with the assumption of
time-lag-free torque loop a fixed regulators adjustment to the
maximum kin value is applied [3]. And the EPCM maintains
acceptable dynamic parameters [3].
Let us consider the effectiveness of the fixed regulators
adjustment application for the systems synthesized taking into Fig. 3. The P(D)-regulator system root locus curve
account the finite value of the torque loop response time.
Using mathematical models of systems and expressions for Let's use (16) to construct the P(D)-regulator system root
regulators parameters (Tables I, II), it's possible to obtain the locus curve. Consider an increase kin value in 2 times, and a
characteristic polynomial in the form that allows to analyze
the system root locus curve: decrease – in 5 times. The root locus curve for the three
system roots ( s1, s2 , s3 ) is represented in Fig. 3, each point is
1 2 kin. fix kin. fix marked with a numerical kin value. In this case, the movement
hp P ( D ) = s 3 + s + 0.4164 2
s + 0.0694 ; (16) of the characteristic polynomial roots indicates only
TQ kinTQ kinTQ3
decreasing in the stability margin with increasing kin value.
Therefore, it is necessary to estimate the changes in the time-
1 3 kin. fix 2 response and frequency-response characteristics with the
hpPI ( D ) = s 4 + s + 0.4498 s +
TQ kinTQ2 mechanics inertia variations.
kin. fix kin. fix The transient response of a system with P(D)-regulator are
+0.1049 s + 0.0105 ; (17) obtained in MathCAD by (9) using the inverse Laplace
kinTQ3 kinTQ4 transform

1 4 kin. fix 3 kin. fix 2  H ( s) 

hpPI 2 I ( D ) = s5 + s + 0.4659 s + 0.1241 s + h(t ) = L−1  11  . (19)
TQ kinTQ 2
kinTQ3  s 
kin. fix kin. fix The frequency-response characteristics on control signal
+0.0186 s + 0.00124 , (18) are also obtained from (9) using a substitution s = jω .
kinTQ4 kinTQ5

where kin. fix – a fixed value of the inertia coefficient of the

EPCM mechanics used in the regulators and input filters
parameters calculations.
A fixed value of the inertial coefficient is taken on
kin. fix =1 kg ⋅ m 2 .

Fig. 4. The P(D)-regulator system transient response

Fig. 5. The P(D)-regulator system Bode magnitude plot Fig. 7. The P(D)-regulator system group delay time

Fig. 8. The PI(D)-regulator system positioning

Fig. 6. The P(D)-regulator system Bode phase plot

The analysis of the transient characteristics (Fig. 4) shows

the advantage of a fixed adjustment to the maximum
mechanics inertia, since the smoothness of positioning is
maintained, and the velocity is reduced less than with an
alternative adjustment to minimum mechanics inertia.
The change of system characteristics in the passband are
represented on Bode diagrams (Fig. 5, 6).
Here there is some decrease in the bandwidth, but
considering the multiplication factor of the changes,
adjustment to the maximum mechanics inertia takes Fig. 9. The PI2I(D)-regulator system positioning
precedence. And, finally, the main Bessel dynamics attribute
is the characteristics of the group delay time Positioning diagrams EPCM with PI(D) and PI2I(D)
position regulators, represented in Fig. 8.9, show the slight
d overshoot increasing with a fivefold kin value reduction with
t gz (ω) = − φ( s) . (20)
dω respect to the Bessel dynamics specified value.
The graphs t gz (Fig. 7) show a greater uniformity of
IV. CONCLUSIONS
characteristics with a fixed adjustment to the maximum EPCM
mechanics inertia. As a result, mathematical models of EPCM in the form of
state equations, characteristic polynomials and transfer
The advantage of fixed regulators adjustment to the matrices taking into account the response time of the motor
maximum EPCM mechanics inertia are also confirmed by torque loop are developed. The parameters of the position
characteristic polynomial root locus curves, time-response and regulators and input filters are obtained, which enable the
frequency-response characteristics of positioning systems with positioning systems adjustment to the Bessel dynamics in the
PI(D) and PI2I(D)-regulators. passband acceptable for most EPCMs. To validate the fixed
system adjustment with the variation of the mechanics inertial
properties, the time-response, frequency-response
characteristics and root locus curves are obtained. The
characteristics analysis showed the system robustness with a
fixed adjustment to the maximum mechanics inertia with
multiple variations in the mechanics parameters.
The presented synthesis method and the results obtained
are oriented to the implementation of regulators in
microcontrollers of the motor control class, including Russian
design. Preliminary assessment allows us to talk about the
feasibility of the proposed control algorithms and the declared
characteristics achievement.
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