Two Approaches to Speed Control for Multi-Mass System with Variable Mechanical Parameters
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2017
scientific article
english
- adaptive algorithm
- digital filters
- discrete Fourier transforms (DFTs)
- frequency response
- motion control
- neurocontrollers
- PI control
- robust control
- velocity control
- vibration control
EN This paper is dedicated to the motion control system of a multimass mechanism with occurring resonances and variable moment of inertia. The proposed concept of control structure for such mechanism consists of a filter damping higher resonance frequencies and an adaptive speed controller. The filter has properly selected fixed characteristics giving a compromised filtering effect in a range of resonance frequency variation, caused by the variable moment of inertia. The used neural adaptive controller realizes active damping of lower resonance frequencies, which are not eliminated by the resonance filter. This original concept is compared with a more complex solution, treated as a reference, which contains an offline-tuned resonance filter together with an offline-adjusted PI-two degrees of freedom controller. Good speed control dynamic properties of the proposed concept in comparison with the reference complex solution are proven by laboratory results.
05.08.2016
3338 - 3347
50
50
7,05