Model of ADRC speed control system for complex mechanical object with backlash
Authors:
- 1 August 2017
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 379-383
Abstract
The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF - FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.Keywords
This publication has 6 references indexed in Scilit:
- Experimental analysis of selected control algorithms of electromechanical object with backlash and elastic joint2016
- Control of electromechanical object with backlash and elasticity within interconnection between motor and load2015
- Speed control in direct drive with non-stiff load2011
- Damping of Torsional Vibrations in High-Dynamic Industrial DrivesIEEE Transactions on Industrial Electronics, 2009
- From PID to Active Disturbance Rejection ControlIEEE Transactions on Industrial Electronics, 2009
- Controlling mechanical systems with backlash—a surveyAutomatica, 2002