Parallel IP– Resonant control approach for attenuating the effect of torsion in electric drives with flexible links

• Autorzy: Oliszewski Stanisław , Shikata Kosuke , Stanisławski Radosław , Katsura Seiichiro , Szabat Krzysztof

Identyfikatory

DOI

10.15199/48.2024.12.49

Warianty tytułu

PL

Równoległy regulator IP – rezonansowy zastosowany do łagodzenia wpływu skręcenia wału w napędach elektrycznych z elastycznym sprzęgłem

• Języki publikacji: EN

Abstrakty

EN

Because of their high efficiency, electric drives have become a staple solution in numerous applications, such as robotic manipulators and exoskeletons. However, such constructions need to be designed with lighter materials, which are also more prone to twisting and bending. Because of torsion affecting the mechanical structure, precision of motion is deteriorated. In this study, a classic IP controller is coupled with a resonant filter to improve the performance of the drive affected by the torsional torque. The results include both numerical analysis and experimental verification.

PL

Ze względu na wysoką sprawność, napędy elektryczne stały się klasycznym rozwiązaniem stosowanym w wielu mechanizmach, m.in. manipulatorach oraz egzoszkieletach. Aplikacje te często wymagają wykorzystania lekkich materiałów podatnych na skręcanie i wyginanie. Odkształcenia te mocno utrudniaja˛ precyzyjne sterowanie nape˛dem. W niniejszej pracy przedstawione zostało wykorzystanie poła˛czenia klasycznego rozwia˛zania (regulatora IP) oraz filtra rezonansowego zastosowanego w celu eliminacji składowych odpowiedzialnych za pogłe˛bianie skre˛cenia wału. Struktura sterowania poddana została zarówno analizie numerycznej, jak i weryfikacji eksperymentalnej.

Słowa kluczowe

EN

two-mass system; resonant control; vibration suppression; electric drive

PL

układ dwumasowy; regulacja rezonansowa; tłumienie drgań; napęd elektryczny

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2024
• Tom: R. 100, nr 12
• Strony: 223--226
• Opis fizyczny: Bibliogr. 19 poz., rys., tab.

Twórcy

autor

Oliszewski Stanisław

• Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, ul. Smoluchowskiego 19, 50-372 Wroclaw, Poland

autor

Shikata Kosuke

• Department of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan

autor

Stanisławski Radosław

• Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, ul. Smoluchowskiego 19, 50-372 Wroclaw, Poland

autor

Katsura Seiichiro

• Department of System Design Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan

autor

Szabat Krzysztof

• Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, ul. Smoluchowskiego 19, 50-372 Wroclaw, Poland

Bibliografia

• [1] Derugo, P., Szabat, K., Pajchrowski, T., Zawirski, K.: Fuzzy Adaptive Type II Controller for Two-Mass System, Energies, 15, 419, 2022.
• [2] Szczepanski, R., Kaminski, M., Tarczewski, T.: Auto-Tuning Process of State Feedback Speed Controller Applied for Two- Mass System, Energies, 13, 3067, 2020.
• [3] Wróbel K., Szabat K., Wicher B., Brock S.: Hybrydowy ´slizgowy obserwator Luenbergera w układzie nap˛edowym z poła˛czeniem elastycznym, , Przegla˛d Elektrotechniczny, 100 (2024), nr 4, 104-107
• [4] Bang, Jae Sung and Shim, Hyungbo and Park, Sang Kyun and Seo, Jin H.: Robust Tracking and Vibration Suppression for a Two-Inertia System by Combining Backstepping Approach With Disturbance Observer, IEEE Transactions on Industrial Electronics, 57(9), pp. 3197–3206, Sep. 2010.
• [5] Rajendran, Saravanakumar and Diaz, Matias and Chavez, Hector and Cruchaga, Marcela and Castillo, Ernesto: Terminal Synergetic Control for Variable Speed Wind Turbine Using a Two Mass Model, 2021 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON), Dec. 2021.
• [6] Aoki, M. and Fujimoto, H. and Hori, Y. and Takahashi, T.: Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot, 2013 IEEE International Conference on Mechatronics (ICM), Feb. 2013.
• [7] Tsuda, Kenta and Sakuma, Tomoki and Umeda, Kodai and Sakaino, Sho and Tsuji, Toshiaki: Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System, IEEJ Journal of Industry Applications, 6(5), pp. 320–327, 2017.
• [8] Kawaharada, H. and Godler, I. and Ninomiya, T. and Honda, H.: Vibration suppression control in 2-inertia system by using estimated torsion torque, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2000.
• [9] Beards, C.: Vibration Analysis and Control System Dynamics, Halsted Press, New York, 1981.
• [10] Szabat, Krzysztof and Orlowska-Kowalska, Teresa: Vibration Suppression in a Two-Mass Drive System Using PI Speed Controller and Additional Feedbacks—Comparative Study, IEEE Transactions on Industrial Electronics, 54(2), pp. 1193– 1206, Apr. 2007.
• [11] Cui, Jing and Ye, Jiayu and Chu, Zhongyi: IP Controller Design for Uncertain Two-Mass Torsional System Using Time- Frequency Analysis Shock and Vibration, 2018, pp. 1–9, 2018.
• [12] Jung, Hanul and Jeon, Kiho and Kang, Jae-Gu and Oh, Sehoon: Iterative Feedback Tuning of Cascade Control of Two- Inertia System, IEEE Control Systems Letters, 5(3), pp. 785– 790, Jul. 2021.
• [13] S´ leszycki, Kacper and Wróbel, Karol and Szabat, Krzysztof and Katsura, Seiichiro: Application of fuzzy type II multi-layer Kalman filter for parameters identification of two-mass drive system, Bulletin of the Polish Academy of Sciences Technical Sciences, 71(4), May 2023.
• [14] Lai, Chunyan and Feng, Guodong and Mukherjee, Kaushik and Loukanov, Voiko and Kar, Narayan C.: Torque Ripple Modeling and Minimization for Interior PMSM Considering Magnetic Saturation, IEEE Transactions on Power Electronics, 33(3), pp. 2417–2429, Mar. 2018.
• [15] Chuan, Hawwooi and Fazeli, Seyed Mahdi and Wu, Zhongze and Burke, Richard: Mitigating the Torque Ripple in Electric Traction Using Proportional Integral Resonant Controller, IEEE Transactions on Vehicular Technology, 69(10), pp. 10820–10831, Oct. 2020.
• [16] Xia, Changliang and Ji, Bingnan and Yan, Yan: Smooth Speed Control for Low-Speed High-Torque Permanent-Magnet Synchronous Motor Using Proportional–Integral–Resonant Controller, IEEE Transactions on Industrial Electronics, 62(4), pp. 2123–2134, Apr. 2015.
• [17] Krzysztof Jackiewicz: Sterowanie powtarzalne momentem elektromagnetycznym w układzie nape˛dowym z maszyna˛ reluktancyjna ˛ przeła˛czalna˛, PhD Thesis, Warsaw, 2023.
• [18] Chang, He and Lu, Shaowu and Huang, Gai and Zheng, Shiqi and Song, Bao: An Extended Active Resonance Suppression Scheme Based on a Dual-Layer Network for High- Performance Double-Inertia Drive System, IEEE Transactions on Power Electronics, 38(11), pp. 13717–13729, Nov. 2023.
• [19] Kaczmarczyk, Grzegorz and Stanislawski, Radoslaw and Szrek, Jaroslaw and Kaminski, Marcin: Adaptive Sliding Mode Control Based on a Radial Neural Model Applied for an Electric Drive with an Elastic Shaft, Energies, 17, 833, Feb. 2024.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).