Model predictive control of the two-mass drive system with mechanical backlash

• Autorzy: Serkies P. J. , Szabat K.
• Konferencja: Computer Applications in Electrical Engineering 2011 (11-13.04.2011; Poznań, Polska)
• Języki publikacji: EN

Abstrakty

EN

In the paper an application of the model predictive controller for the drive system with elasticity and backlash is presented. In the introduction the control problem of the drive system with mechanical backlash is introduced. Next, the mathematical model of the drive is presented. Then the predictive algorithm is described briefly. The performance of the predictive controller is examined in the simulation study. The influence of the changing of the matrix Q is tested.

Słowa kluczowe

EN

predictive control; drive system; MPC

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Computer Applications in Electrical Engineering
• Rocznik: 2011
• Tom: Vol. 9
• Strony: 170--180
• Opis fizyczny: BIbliogr. 15 poz., rys.

Twórcy

autor

Serkies P. J.

• Wrocław University of Technology 50-372 Wrocław, ul. Smoluchowskiego 19

autor

Szabat K.

• Wrocław University of Technology 50-372 Wrocław, ul. Smoluchowskiego 19

Bibliografia

• [1] B. Armstrong-Hélouvry, P. Dupont, and C. Canudas de Wit., A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction. Automatica, vol. 30, no. 7, 1994, pp. 1083-1138.
• [2] M. Nordina, P-O. Gutmanb, Controlling mechanical systems with backlash-a survey, Automatica 38 pp.1633 - 1649, 2002.
• [3] K. Szabat, M. Dybkowski, Tłumienie drgań skrętnych w układzie dwumasowym z luzem, Przegląd Elektrotechniczny R 86 NR2/2010, str. 376-379.
• [4] H. Mokhtari, F. Barati, A New Scheme for a Mechanical Load Position Control Driven by a Permanent Magnet DC Motor and a Nonzero Backlash Gearbox, IEEE ISIE 2006, July 9-12, 2006, Montreal, Quebec, Canada.
• [5] Y Wu, K. Fujikawa, H. Kobayashi, A control method of speed control drive system with backlash, 4th International Workshop on AdvancedMotion Control, 1996. AMC '96-MIE. Proceedings., Yolume 2 1996.
• [6] S. Thomsen, F. W. Fuchs, Speed Control of Torsional Drive Systems with Backlash, 13th European Conference on Power Electronics and Applications, 2009. EPE '09.
• [7] L. T. Aguilar, Y. Orlov, J.C. Cadiou, and R. Merzouki, Nonlinear H®-Output Regulation of a Multi-stable Drive System including Backlash with a Single-Stability Approximation, Proceedings of the 2007 American Control Conference Marriott Marąuis Hotel at Times Square New York City, USA, July 11-13, 2007.
• [8] J. M. Maciejowski Predictive Control with Constraints, Prentice Hall, UK, 2002.
• [9] P. Tatjewski, Sterowanie zaawansowane obiektów przemysłowych, struktury i algorytmy, Akademicka Oficyna Wydawnicza EXIT, 2002.
• [10] M. T. Cychowski, K. Szabat, T. Orłowska-Kowalska, Constrained Model Predictive Control of the Drive System with Mechanical Elasticity, IEEE Trans. on Industrial Electronics, vol. 56, no. 6, pp 1963-1973, 2009.
• [11] T. Geyer, G. A. Beccuti, G. Papafotiou, M. Morari, Model Predictive Direct Torque Control of permanent magnet synchronous motors, Energy Conversion Congress and Exposition (ECCE), 2010 pp. 199 - 206.
• [12] P. J. Serkies, K. Szabat, Predykcyjny regulator położenia z warstwą rozmytych ograniczeń dla napędu dwumasowego, Przegląd Elektrotechniczny R. 87 NR 8/2011 str. 202-205.
• [13] M. Kvasnica, P. Grieder, M. Baotic, M. Morari, Multi-Parametric Toolbox (MPT), HSCC (Hybrid Systems: Computation and Control), Lecture Notes in Computer Science, vol. 2993, 2004, pp. 448-46.
• [14] A. Bemporad, M. Morari, V. Dua, E.N. Pistikopoulos, The explicit linear quadratic regulator for constrained systems, Automatica, vol. 38, no. 1, pp. 3-20, Jan. 2002.
• [15] M. T. Cychowski, Robust Model Predictive Control, VDM Verlag, 2009.