Robust Velocity Control for Cam Mechanisms Driven by DC Motor

Shibly Ahmed Al-Samarraie; Ivan Isho Gorial

doi:10.15866/ireme.v13i9.17847

Robust Velocity Control for Cam Mechanisms Driven by DC Motor

Shibly Ahmed Al-Samarraie⁽¹⁾, Ivan Isho Gorial^(2*)

^(*) Corresponding author

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DOI: https://doi.org/10.15866/ireme.v13i9.17847

Abstract

In this work, a robust nonlinear controller for a cam mechanism driven by a controlled DC motor is designed using a two-degree of freedom uncertain cam-follower model. For this model, the matching condition is not satisfied, hence in order to satisfy this condition and to actuate the cam velocity dynamics directly, a control system design based on transforming the DC motor dynamics to a Low Pass Filter (LPF) is proposed in this work. Using this transformation, part of the control law will act on cam velocity dynamics, and as a result, it can control its velocity to the desired value. Due to uncertainty in the cam-follower model, the robustness of the proposed controller is proved using the Lyapunov function with a bounded steady-state error between the cam velocity and the desired value. The bound on this steady-state error is a function to the control design parameters; accordingly, it can be adjusted based on the selected values for these parameters. The control system performance and the robustness are also clarified via numerical solutions using MATLAB software, where the cam velocity is enforced to follow different desired velocities (37.5 rad/s, 56.25 rad/s, and 75 rad/s) with an error of less than 0.07 rad/s for each case.
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Keywords

Cam-Follower Model; Robust Velocity Control; Direct Current (DC) Motor; Cycloidal Follower Motion Curve; Matching Condition

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