ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash

Wicher, Bartlomiej

doi:10.1109/mmar.2018.8486007

Cited by 5 publications

(4 citation statements)

References 7 publications

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“…By measuring the q-axis current signal of the servo system at steady-state operating speeds multiple times, multiplying the current by the torque coefficient yields the corresponding torque. The velocity-torque curve is fitted using the least squares method, and finally, the steady-state friction parameters are obtained according to Equation (13). The experiment measured the motor torque changes at different speeds from 1 • •s −1 to 10 • •s −1 in the forward and reverse directions, as shown in Figure 11.…”

Section: Dead-zone Backlash Parameter Identificationmentioning

confidence: 99%

“…In order to compensate for the nonlinearity of backlash, a state feedback controller is designed to reduce the impact, eliminate the limit cycle oscillation and improve the accuracy of position control. A linear and a nonlinear method of ESO for a two-mass system with ADRC speed control loop of the motor side are proposed in [13]. The performance of the two approaches, such as damping of the torsional vibration and influence of backlash width, is compared.…”

Section: Introductionmentioning

confidence: 99%

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A Precise Modeling Method for PMSM Servo System of Spacecraft

Xu,

Song,

Xiao

et al. 2024

Applied Sciences

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Permanent magnet synchronous motor (PMSM) servo system is the control and execution mechanism of spacecraft, and its precise modeling is of great practical significance for improving the performance of the spacecraft. A comprehensive model considering elasticity, backlash, and friction was established based on the structural composition and transmission characteristics of spacecraft. Firstly, an elastic-dead zone model was established based on the transmission characteristics, with two mass elastic and gear backlash dead zones as the main features. Then, an improved LuGre friction model was established that considers the effects of vibration and environmental temperature, and the three models were organically combined. Finally, a method for identifying nonlinear parameters of the system using sinusoidal sweep and the least squares method was proposed, and the accuracy of the constructed model was verified. The experiment shows that the error of the simulation results is consistent with the experimental results. This method can precisely obtain the servo system model, providing theoretical support for control method research.

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Section: Dead-zone Backlash Parameter Identificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Precise Modeling Method for PMSM Servo System of Spacecraft

Xu,

Song,

Xiao

et al. 2024

Applied Sciences

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“…The two-mass system is well known in literature [42][43][44][45][46][47][48][49] as a model of basic intercon nection between motor and load, and numerous speed and position control algorithm have been developed over time [47,[50][51][52][53]. The main problems caused by this type of ob ject are resonances and antiresonances that occur at specified frequencies [53].…”

Section: Two-mass System With Flexible Jointmentioning

confidence: 99%

Application of the STFT for Detection of the Rotor Unbalance of a Servo-Drive System with an Elastic Interconnection

Ewert,

Wicher,

Pajchrowski

2024

Electronics

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The article focuses on the use of short-time Fourier transform (STFT) to detect the unbalance of a drive with a flexible connection between the driving machine and the load. The authors present the unbalance model and justify, through subsequent experiments, why the STFT-based approach is appropriate. The effectiveness of the presented method of analyzing signals from acceleration sensors was confirmed experimentally by designing an artificial neural network for detecting the unbalance.

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“…The majority of the described observer design methods concern load velocity observers. Among them are Luenberger observers (linear or nonlinear) [31], Kalman filters (extended, unscented) [32,33], moving horizon estimators [34], multilayer observers [35,36], LQ observers [37], and fixed gain filters (FGFs) [13]. A separate group consists of observers designed by numerous techniques inspired by artificial intelligence, but usually, the stability of such solutions was not proven.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based, Robust Position Tracking in Two-Mass Drive System

Kabziński

Mosiołek

2022

Energies

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Precise motion control remains one of the most important problems in modern technology. It is especially difficult in the case of two-mass systems with flexible coupling if only the motor position and velocity are measured. We propose a new methodology of control system design in this situation. The concept is founded on a robust observer design, based on a linear matrix inequality (LMI) solution. The observer cooperates with the original nonlinear controller. The presented approach allows us to solve the position tracking problem for a two-mass drive, with unknown parameters, in the presence of disturbances (for instance, nonlinear friction-like torques) acting on both ends of the flexible shaft. Under this set of assumptions, the problem was never solved previously. The closed-loop system stability is investigated, and the uniform ultimate boundedness of state estimation errors and tracking errors is proven using Lyapunov techniques. Numerical properties of the design procedure and characteristic features of the observer, controller, and closed-loop system are demonstrated by several examples.

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ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash

Cited by 5 publications

References 7 publications

A Precise Modeling Method for PMSM Servo System of Spacecraft

A Precise Modeling Method for PMSM Servo System of Spacecraft

Application of the STFT for Detection of the Rotor Unbalance of a Servo-Drive System with an Elastic Interconnection

Observer-Based, Robust Position Tracking in Two-Mass Drive System

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