Articles authored by UoM staff

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Browsing Articles authored by UoM staff by Author "Abeykoon, AMHS"

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    Analysis of a dc motor based velocity controller using disturbance observer
    Pillai, MB; Perera, GVAGA; Chinthaka, MKCD; Abeykoon, AMHS
    Motion control incorporates a range of challenges when it comes to the control of mechanical systems. In rotary motion; position, velocity and acceleration control are the tasks required most often for robotics. The achievement of velocity control is one of the popular technical issues in motion control and industrial applications. The traditional approach for velocity control is PID based feedback controllers. PID controllers are not suitable for the applications subjected to higher external disturbances. This paper proposes a Disturbance Observer (DOB) based velocity controller. DOB together with the tuned PID controller can make the system robust. To validate the proposed method, stability analysis and experiments were carried out with and without DOB. The velocity responses of the experiments were analyzed for different modes of disturbances with different observer gains. The performance of the proposed controller shows enhanced results compared to the traditional velocity controllers.
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    Friction compensation of DC motors for precise motion control using disturbance observer
    Chinthaka, MKCD; Abeykoon, AMHS
    Friction compensation is often neglected in DC servo control systems where precision is not a main concern. However, friction compensation is necessary to achieve precision of a motion control system. In this research work frictional components have been estimated using constant angular velocity motion test and by the use of the disturbance observer. Disturbance observer based friction compensator has been Modeled and developed model was implemented in hardware setup and evaluated using simulation and practical results.
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    RTOS based embedded controller implementation of a bilateral control system
    Abeykoon, AMHS; Pillai, MB
    Bilateral tele-operation involves realization of the law of action and reaction between the human and the environment. In this research, an embedded system based bilateral control was developed on a microcontroller based motor driver platform. Bilateral tele-operation needs real-time representation of the forces and positions. This challenge accomplished by incorporating a real-time operating system (RTOS) with a resource limited microcontroller. Sensorless torque detection technique was used to find the external torque while disturbance observer was used as a disturbance rejection tool and also to improve the system’s robustness. When the motion controller was implemented on a microcontroller, 0 - 30 Hz frequency of force bandwidth could be achieved. In an ideal bilateral control, force/position errors should be The experimental results in contact motion showed a force error less than 4 % and a position error less than 6 %. which validates the proposal. This was a significant achievement as the bilateral controllers have never been successfully implemented using a microcontroller.