A Nonlinear Controller for Point-to-Point Position Control

Abstract

Position control algorithms can be classified into two groups: point-to-point control and continuous path control. For point-to-point control implemented in programmable logic controllers, the speed setpoint is mostly the only setpoint transmitted to the industrial converter. Incorrect settings of the position controller in PLC may lead to position overshoot or oscillations, which are unacceptable in position control applications. The speed control structure in the industrial converter usually has a fixed structure which does not allow the implementation of advanced speed controller. Moreover, standard library blocks for position control encounter difficulties in diagnostics and tuning. To address these limitations, this paper proposes a novel solution for position control that achieves time-optimal speed trajectory during acceleration and enhanced capabilities during deceleration. The proposed controller was verified by simulations of positioning of zinc ingot feeder unit drive and compared with a standard P-controller. Experimental results confirmed the performance of the proposed controller with the industrial application of a feeder unit.

Keywords

• motion control
• position control
• electric drive
• nonlinear control
• industrial automation