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Observer-Based, Robust Position Tracking in Two-Mass Drive System

Author

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  • 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

Precise motion control remains one of the most important problems in modern technology. It is especially difficult in the case of two-mass systems with flexible coupling if only the motor position and velocity are measured. We propose a new methodology of control system design in this situation. The concept is founded on a robust observer design, based on a linear matrix inequality (LMI) solution. The observer cooperates with the original nonlinear controller. The presented approach allows us to solve the position tracking problem for a two-mass drive, with unknown parameters, in the presence of disturbances (for instance, nonlinear friction-like torques) acting on both ends of the flexible shaft. Under this set of assumptions, the problem was never solved previously. The closed-loop system stability is investigated, and the uniform ultimate boundedness of state estimation errors and tracking errors is proven using Lyapunov techniques. Numerical properties of the design procedure and characteristic features of the observer, controller, and closed-loop system are demonstrated by several examples.

Suggested Citation

  • Jacek Kabziński & Przemysław Mosiołek, 2022. "Observer-Based, Robust Position Tracking in Two-Mass Drive System," Energies, MDPI, vol. 15(23), pages 1-28, November.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:23:p:9093-:d:989677
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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.
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    4. Ali Awada & Rafic Younes & Adrian Ilinca, 2021. "Review of Vibration Control Methods for Wind Turbines," Energies, MDPI, vol. 14(11), pages 1-35, May.
    5. 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.
    6. Piotr Bortnowski & Lech Gładysiewicz & Robert Król & Maksymilian Ozdoba, 2021. "Models of Transverse Vibration in Conveyor Belt—Investigation and Analysis," Energies, MDPI, vol. 14(14), pages 1-14, July.
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