Robust input shaping for two-mass system with variable parameters

• Autorzy: Brock S. , Gniadek M.
• Konferencja: Computer Applications in Electrical Engineering 2014 (28-29.04.2014; Poznań, Polska)
• Języki publikacji: EN

Abstrakty

EN

Various mechanical systems are characterized with flexible joints. Exemplary this class of systems are the conveyers motors, the industrial robots and the cranes. The mechanical properties of those objects can be approximated by two-mass system. The paper presents the time-optimal input shaping methods for two-mass system. The control signal has to reach the set value of displacement in the shortest time, without of rising the mechanical oscillations. It was established, that the summary moment of inertia is constant, but division of mass is changing. For this case robustness for wide range of parameters deviations was analyzed. The model included PMSM motor with limited dynamics of current regulation. The research were conducted in Matlab/Simulink enviroment.

Słowa kluczowe

EN

two-mass system; input shaping; robustness

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Poznan University of Technology Academic Journals. Electrical Engineering
• Rocznik: 2014
• Tom: No. 77
• Strony: 209--215
• Opis fizyczny: Bibliogr. 4 poz., rys.

Twórcy

autor

Brock S.

• Poznan University of Technology

autor

Gniadek M.

• Poznan University of Technology

Bibliografia

• [1] W. Signhose and S. Warren, Command Generation for Dynamic Systems. 2011.
• [2] K. Szabat, “Direct and indirect adaptive control of a two-mass drive system - a comparison,” in Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on, 2008, pp. 564-569.
• [3] N. Avdiu and S. Buza, “Analysis of the mutli-mass drive system synamics with induction motor,” Prague, Sep. 2011.
• [4] W. Signhose, N. Singer, and W. Seering, “Preshaping command inputs to reduce system vibration,” vol. 1212, pp. 76-82, 1990.