Prototype Implementation and Adaptive PID-Based Precision Position Control of a High-Torque Density Limited Angle Torque Motor

AYDIN A., SAYGIN A.

13th International Conference on Electrical and Electronics Engineering, ICEEE 2026, Antalya, Türkiye, 27 - 29 Nisan 2026, ss.153-158, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/iceee69936.2026.11598537
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.153-158
  • Anahtar Kelimeler: adaptive PID control, high precision positioning, limited angle torque motor
  • Gazi Üniversitesi Adresli: Evet

Özet

Simulation-based motor designs have become a widely adopted approach due to their flexibility, efficient comparison of results, and the ability to quickly observe outcomes. However, the reliability of such designs is largely dependent on experimental validation and environmental conditions. In this study, a previously optimized four-pole limited-angle torque motor design was extended through prototype production, and comprehensive experimental tests were conducted using adaptive PID-based position control to evaluate real-world performance. During prototype motor production, mechanical tolerances, air gap variations, and constraints on the symmetrical structure of the toroidal winding were taken into account. To achieve high-precision angular positioning, an adaptive PID control strategy was implemented, where controller gains were adjusted according to the rotor angle and rotation direction using a predefined gain search table. Experimental results demonstrated positioning accuracy lower than 0.1° across the entire operating range, significantly improving upon traditional fixed-gain PID control. The proposed control approach effectively compensates for the nonlinear torque characteristics, friction, and directiondependent disturbances specific to limited-angle torque motors. The findings provide valuable insights into transitions from simulation to prototype and highlight critical factors that should be incorporated into future engine design and modeling processes to improve prediction accuracy.