PSO Optimized ADRC Motor Speed Controller for Two Mass System with Backlash
[ 1 ] Instytut Automatyki, Robotyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2018
chapter in monograph / paper
english
- ADRC
- PSO
- two-mass system
- speed control
- backlash
EN In the paper simulation research of speed control of electrical drive with mechanical system revealing elasticity and backlash is presented. The method of Active Disturbance Rejection Control (ADRC) was applied as the speed controller. Parameters of the ADRC subsystem were found by Particle Swarm Optimization method. The ADRC method was compared with 2DOF-PID controller, which was treated as a reference control structure, in conditions of simple scenario with step changes of disturbance (load torque) and reference signal. Resulting waveforms and numeric control quality factors are presented and followed by conclusions.
493 - 500
20
WoS (15)