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Integrated, Multi-Approach, Adaptive Control of Two-Mass Drive with Nonlinear Damping and Stiffness

Author

Listed:
  • Jacek Kabziński

    (Institute of Automatic Control, Lodz University of Technology, 90-924 Lodz, Poland)

  • Przemysław Mosiołek

    (Institute of Automatic Control, Lodz University of Technology, 90-924 Lodz, Poland)

Abstract

In numerous electric drive applications, the mechanical phenomena in the velocity or position control loop determine real difficulties and challenges for the control system. So-called two-mass drive systems with a flexible shaft are the most important example of this situation. The problem becomes even more difficult if the characteristics of torque transmission along the shaft are nonlinear, nonlinear friction is present, and the plant parameters are unknown, as it happens in numerous robotic systems. A novel adaptive controller is derived for such a system. The recurrent design procedure is based on proper modifications of the adaptive backstepping scheme, including non-strict-feedback plant application, tuning functions to exclude controller overparameterization, robust adaptive laws, proper means to avoid controller complexity explosion, and a nonlinear PI controller in the initial loop to minimize quasi-steady-state tracking error. The closed-loop system uniform ultimate boundedness is proven using Lyapunov techniques and the design and tuning procedures are described. The attractive features of the obtained drive, including the robustness against the violation of assumptions, are presented using several examples.

Suggested Citation

  • Jacek Kabziński & Przemysław Mosiołek, 2021. "Integrated, Multi-Approach, Adaptive Control of Two-Mass Drive with Nonlinear Damping and Stiffness," Energies, MDPI, vol. 14(17), pages 1-23, September.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:17:p:5475-:d:627730
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    References listed on IDEAS

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    1. Andriy Lozynskyy & Andriy Chaban & Tomasz Perzyński & Andrzej Szafraniec & Lidiia Kasha, 2021. "Application of Fractional-Order Calculus to Improve the Mathematical Model of a Two-Mass System with a Long Shaft," Energies, MDPI, vol. 14(7), pages 1-15, March.
    2. Andrzej Popenda & Marek Lis & Marcjan Nowak & Krzysztof Blecharz, 2020. "Mathematical Modelling of Drive System with an Elastic Coupling Based on Formal Analogy between the Transmission Shaft and the Electric Transmission Line," Energies, MDPI, vol. 13(5), pages 1-14, March.
    3. Ali Awada & Rafic Younes & Adrian Ilinca, 2021. "Review of Vibration Control Methods for Wind Turbines," Energies, MDPI, vol. 14(11), pages 1-35, May.
    4. Marcin Kamiński & Krzysztof Szabat, 2021. "Adaptive Control Structure with Neural Data Processing Applied for Electrical Drive with Elastic Shaft," Energies, MDPI, vol. 14(12), pages 1-26, June.
    5. Andriy Chaban & Marek Lis & Andrzej Szafraniec & Radoslaw Jedynak, 2020. "Application of Genetic Algorithm Elements to Modelling of Rotation Processes in Motion Transmission Including a Long Shaft," Energies, MDPI, vol. 14(1), pages 1-17, December.
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