Abstract
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.
Funder
Lodz University of Technology
Subject
Energy (miscellaneous),Energy Engineering and Power Technology,Renewable Energy, Sustainability and the Environment,Electrical and Electronic Engineering,Control and Optimization,Engineering (miscellaneous),Building and Construction
Reference48 articles.
1. Torsional Vibration for Rolling Mill with the Drive System Shaft Axis Deviations;Peng;Arab. J. Sci. Eng.,2021
2. Bortnowski, P., Gładysiewicz, L., Król, R., and Ozdoba, M. (2021). Models of Transverse Vibration in Conveyor Belt—Investigation and Analysis. Energies, 14.
3. Flexible Double-Cage Hoist for High Operational Efficiency in Tall Building Construction;Kim;Autom. Constr.,2018
4. Experimental Study on the Nonlinear Dynamic Characteristics of Wire Rope under Periodic Excitation in a Friction Hoist;Guo;Shock Vib.,2020
5. Observer-Based H∞ Controller Design for High Frequency Stick-Slip Vibrations Mitigation in Drill-String of Rotary Drilling Systems;Riane;Vibration,2022
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献