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| State-Space Modelling and Control of Two-Phase Hybid Stepping Motor for Robot Grinding Using LQR Controller
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Achebe, P. N. and Muoghalu, C. N.
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Abstract:
This paper presents state-space modelling and control of two-phase hybrid stepping motor (2-PHSM) for robot grinding using linear quadratic regulator (LQR). The objective of the study is to use state-space modelling approach to model 2-PHSM and subsequently designed an optimal control system rather than the commonly used transfer function model due to its limitations in modern control theory. Initially, state-space model of the 2-PHSM was obtained from transfer function using direct decomposition method and this was followed by LQR design. The Designed LQR was introduced into the control system for the 2-PHSM in robot grinding. With the system modelled and simulated in MATLAB, the results obtained by varying the Q matrix of optimal controller revealed that desired step input was achieved with negligible steady state error of 0.01 and 0.02, which agrees with 2% criterion. In both cases the system maintained good stability with 4.14% overshoot.
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