Model of ADRC speed control system for complex mechanical object with backlash

Bartłomiej Wicher; Krzysztof Nowopolski

doi:10.1109/MMAR.2017.8046857

Scientific Information System of the Poznań University of Technology

PL EN

Main page / Publications / Model of ADRC speed control system for complex mechanical object with backlash

Submit a comment

Chapter

Download BibTeX

Title

Model of ADRC speed control system for complex mechanical object with backlash

Authors

Bartłomiej Wicher (WE) ^{[ 1 ][ 2.2 ][ P ]}
Krzysztof Nowopolski (WE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

ADRC
speed controller
nonlinear system
backlash
two mass system

Abstract

EN The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF - FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.

Date of online publication

21.09.2017

Pages (from - to)

379 - 383

DOI

10.1109/MMAR.2017.8046857

URL

https://ieeexplore.ieee.org/document/8046857

Book

22nd International Conference on Methods and Models in Automation and Robotics MMAR 2017, Miedzyzdroje, Poland, August 28-31, 2017

Presented on

22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017, 28-31.08.2017, Międzyzdroje, Polska