Abstract:
Permanent-magnet step motors offer several advantages such as high efficiency, high power density, high torque-to-inertia ratio, and excellent durability and serviceabili...Show MoreMetadata
Abstract:
Permanent-magnet step motors offer several advantages such as high efficiency, high power density, high torque-to-inertia ratio, and excellent durability and serviceability, as well as the absence of external rotor excitation and windings. The nonuniformity in the developed torque due to the nonsinusoidal flux distribution in the airgap is, however, the major obstacle in achieving global high-precision position tracking. When the position reference profile is a periodic signal of known period, such an obstacle may be however overcome by using recent learning control techniques, which require neither high gains in the inner speed/position control loops nor resetting procedures. An experimental comparison of two different recently designed learning position controls (“adaptive” and “iterative”) is, for the first time, carried out with reference to the same low-speed robotic application. Benefits and drawbacks of the two learning approaches are analyzed in detail.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 58, Issue: 10, October 2011)
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Stefano Bifaretti (M'07) was born in Rome, Italy, in 1974. He received the Laurea and Ph.D. degrees in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 1999 and 2003, respectively.
Since 2004, he has been an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata,” where he is currently a Lecturer in power electronics. In 2007, he was with the PEMC Resear...Show More
Stefano Bifaretti (M'07) was born in Rome, Italy, in 1974. He received the Laurea and Ph.D. degrees in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 1999 and 2003, respectively.
Since 2004, he has been an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata,” where he is currently a Lecturer in power electronics. In 2007, he was with the PEMC Resear...View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Vincenzo Iacovone was born in Matera, Italy, in 1983. He received the Laurea degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2007, where he has been working toward the Ph.D. degree in electronic engineering since 2008.
Since 2007, he has been collaborating with Polo Solare Organico della Regione Lazio (CHOSE), Rome, in the research and industrial development of power electronic c...Show More
Vincenzo Iacovone was born in Matera, Italy, in 1983. He received the Laurea degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2007, where he has been working toward the Ph.D. degree in electronic engineering since 2008.
Since 2007, he has been collaborating with Polo Solare Organico della Regione Lazio (CHOSE), Rome, in the research and industrial development of power electronic c...View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Alessandro Rocchi was born in Rome, Italy, on March 13, 1984. He received the B.Sc. degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 2008.
Since 2009, he has been collaborating with the Power Electronic and Control Research Groups, Department of Electronic Engineering, University of Rome “Tor Vergata.” His research interests include control techniques and industrial development of electr...Show More
Alessandro Rocchi was born in Rome, Italy, on March 13, 1984. He received the B.Sc. degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 2008.
Since 2009, he has been collaborating with the Power Electronic and Control Research Groups, Department of Electronic Engineering, University of Rome “Tor Vergata.” His research interests include control techniques and industrial development of electr...View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Patrizio Tomei was born in Rome, Italy, on June 21, 1954. He received the “Dottore” degree in electronic engineering and the “Dottore di Ricerca” degree from the University of Rome “La Sapienza,” Rome, in 1980 and 1987, respectively.
He is currently a Professor of “adaptive systems” with the University of Rome “Tor Vergata,” Rome. He is the coauthor (with R. Marino) of the book “Nonlinear Control Design” (Prentice Hall, 19...Show More
Patrizio Tomei was born in Rome, Italy, on June 21, 1954. He received the “Dottore” degree in electronic engineering and the “Dottore di Ricerca” degree from the University of Rome “La Sapienza,” Rome, in 1980 and 1987, respectively.
He is currently a Professor of “adaptive systems” with the University of Rome “Tor Vergata,” Rome. He is the coauthor (with R. Marino) of the book “Nonlinear Control Design” (Prentice Hall, 19...View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Cristiano Maria Verrelli was born in Italy on September 12, 1977. He received the Ph.D. degree in system engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2005.
He has been a visiting scholar at the Laboratoire des Signaux et Systèmes, Supelec, Gif-Sur-Yvette, France, and the Laboratoire Systèmes Complexes, Evry, France, in 2004 and 2005, respectively. He is currently an Assistant Professor with the De...Show More
Cristiano Maria Verrelli was born in Italy on September 12, 1977. He received the Ph.D. degree in system engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2005.
He has been a visiting scholar at the Laboratoire des Signaux et Systèmes, Supelec, Gif-Sur-Yvette, France, and the Laboratoire Systèmes Complexes, Evry, France, in 2004 and 2005, respectively. He is currently an Assistant Professor with the De...View more
Contents Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Stefano Bifaretti (M'07) was born in Rome, Italy, in 1974. He received the Laurea and Ph.D. degrees in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 1999 and 2003, respectively.
Since 2004, he has been an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata,” where he is currently a Lecturer in power electronics. In 2007, he was with the PEMC Research Group, The University of Nottingham, Nottingham, U.K., collaborating to the UNIFLEX-PM European Research Project. He has published over 60 papers in international journals and conferences. His research interests include power electronics converters, industrial drives, and photovoltaic conversion systems.
Stefano Bifaretti (M'07) was born in Rome, Italy, in 1974. He received the Laurea and Ph.D. degrees in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 1999 and 2003, respectively.
Since 2004, he has been an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata,” where he is currently a Lecturer in power electronics. In 2007, he was with the PEMC Research Group, The University of Nottingham, Nottingham, U.K., collaborating to the UNIFLEX-PM European Research Project. He has published over 60 papers in international journals and conferences. His research interests include power electronics converters, industrial drives, and photovoltaic conversion systems.View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Vincenzo Iacovone was born in Matera, Italy, in 1983. He received the Laurea degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2007, where he has been working toward the Ph.D. degree in electronic engineering since 2008.
Since 2007, he has been collaborating with Polo Solare Organico della Regione Lazio (CHOSE), Rome, in the research and industrial development of power electronic converters for energy production systems based on photovoltaic sources.
Vincenzo Iacovone was born in Matera, Italy, in 1983. He received the Laurea degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2007, where he has been working toward the Ph.D. degree in electronic engineering since 2008.
Since 2007, he has been collaborating with Polo Solare Organico della Regione Lazio (CHOSE), Rome, in the research and industrial development of power electronic converters for energy production systems based on photovoltaic sources.View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Alessandro Rocchi was born in Rome, Italy, on March 13, 1984. He received the B.Sc. degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 2008.
Since 2009, he has been collaborating with the Power Electronic and Control Research Groups, Department of Electronic Engineering, University of Rome “Tor Vergata.” His research interests include control techniques and industrial development of electrical drives.
Alessandro Rocchi was born in Rome, Italy, on March 13, 1984. He received the B.Sc. degree in electronic engineering from the University of Rome “Tor Vergata,” Rome, in 2008.
Since 2009, he has been collaborating with the Power Electronic and Control Research Groups, Department of Electronic Engineering, University of Rome “Tor Vergata.” His research interests include control techniques and industrial development of electrical drives.View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Patrizio Tomei was born in Rome, Italy, on June 21, 1954. He received the “Dottore” degree in electronic engineering and the “Dottore di Ricerca” degree from the University of Rome “La Sapienza,” Rome, in 1980 and 1987, respectively.
He is currently a Professor of “adaptive systems” with the University of Rome “Tor Vergata,” Rome. He is the coauthor (with R. Marino) of the book “Nonlinear Control Design” (Prentice Hall, 1995) and “Induction Motor Control Design” (Springer, 2010) (with R. Marino and C. M. Verrelli). His research interests are adaptive control, nonlinear control, learning control, robotics, and control of electrical machines.
Patrizio Tomei was born in Rome, Italy, on June 21, 1954. He received the “Dottore” degree in electronic engineering and the “Dottore di Ricerca” degree from the University of Rome “La Sapienza,” Rome, in 1980 and 1987, respectively.
He is currently a Professor of “adaptive systems” with the University of Rome “Tor Vergata,” Rome. He is the coauthor (with R. Marino) of the book “Nonlinear Control Design” (Prentice Hall, 1995) and “Induction Motor Control Design” (Springer, 2010) (with R. Marino and C. M. Verrelli). His research interests are adaptive control, nonlinear control, learning control, robotics, and control of electrical machines.View more
Department of Electronic Engineering, University of Roma Tor Vergata, Rome, Italy
Cristiano Maria Verrelli was born in Italy on September 12, 1977. He received the Ph.D. degree in system engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2005.
He has been a visiting scholar at the Laboratoire des Signaux et Systèmes, Supelec, Gif-Sur-Yvette, France, and the Laboratoire Systèmes Complexes, Evry, France, in 2004 and 2005, respectively. He is currently an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata.” He taught the course of dynamical systems from 2006 to 2008. Since 2008, he has been teaching the course of controls of dynamical systems. He is the coauthor (with R. Marino and P. Tomei) of the book “Induction Motor Control Design” (Springer, 2010). His research interests are robust adaptive nonlinear control and learning control with application to electrical machines.
Cristiano Maria Verrelli was born in Italy on September 12, 1977. He received the Ph.D. degree in system engineering from the University of Rome “Tor Vergata,” Rome, Italy, in 2005.
He has been a visiting scholar at the Laboratoire des Signaux et Systèmes, Supelec, Gif-Sur-Yvette, France, and the Laboratoire Systèmes Complexes, Evry, France, in 2004 and 2005, respectively. He is currently an Assistant Professor with the Department of Electronic Engineering, University of Rome “Tor Vergata.” He taught the course of dynamical systems from 2006 to 2008. Since 2008, he has been teaching the course of controls of dynamical systems. He is the coauthor (with R. Marino and P. Tomei) of the book “Induction Motor Control Design” (Springer, 2010). His research interests are robust adaptive nonlinear control and learning control with application to electrical machines.View more
