TY - THES A1 - Tran, Tung T1 - Development and Implementation of a Cascade Torque Controller for a Motor Test Rig N2 - Servo systems play an important role in the field of automation thanks to their great actuation capability. The majority of industrial servos rely on feeding back armature current for torque control based on the torque-current linear relationship. However, system non-linearity like input delay or external disturbances can make the built-in control mode no longer yields acceptable torque response. This thesis deals with two servo systems in coupling with a torque transducer on a motor test rig as part of a Hardware-in-the-Loop setup. The motor torque step response exhibits a large steady-state error and significant overshoot behavior. This thesis work takes two different approaches to develop a cascade controller that gives desired torque performance. One method is the popular PID control logic and the second is the modern State-Feedback Control architecture using Pole Placement technique. The controller design process is carried out based on an estimated plant model obtained from grey box system identification with experiment data. The designed cascade controllers are implemented and tested on the HIL system with different use cases and yield improved torque transient response with near-zero steady-state error and less than 5% overshoot under step input in both stationary and rotating conditions. The outer loop controllers are also able to reject intermittent disturbance and track low-frequency input better than the original system. The developed cascade control systems are characterized by high stability margins but limited bandwidth, hence not being able to compensate for the dynamic disturbance of frequency larger than 2.5 Hz. Overall, there are not many differences between the performance of the two control laws, as both can satisfy the system performance requirements. KW - Motor Test Rig KW - HiL Simulation KW - System Identification KW - Cascade Control KW - State Feedback Control KW - Servo Motor KW - Model Based Design Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1383-opus4-16663 ER -