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Robust Speed Control of Uncertain Two-Mass System

Author

Listed:
  • Karol Wróbel

    (Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland)

  • Kacper Śleszycki

    (Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland)

  • Amanuel Haftu Kahsay

    (Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland)

  • Krzysztof Szabat

    (Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland)

  • Seiichiro Katsura

    (Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan)

Abstract

The main purpose of this work is to present a robust speed control structure for a two-mass system. The tested system consists of a PI controller with two additional feedback. The coefficients of the control system are selected using a pattern-search optimization method in order to obtain robustness to changes in the system parameters. The control system requires information about non-measurable state variables. For this purpose, it is proposed to use a multilayer observer. In order to show the advantages of the MLO system, this article also presents comparative studies with a classical observer. A number of simulation and experimental tests are carried out. The obtained results confirmed a much higher quality of control in the system cooperating with a multilayer observer compared to the system with a classical observer.

Suggested Citation

  • Karol Wróbel & Kacper Śleszycki & Amanuel Haftu Kahsay & Krzysztof Szabat & Seiichiro Katsura, 2023. "Robust Speed Control of Uncertain Two-Mass System," Energies, MDPI, vol. 16(17), pages 1-17, August.
    • Handle: RePEc:gam:jeners:v:16:y:2023:i:17:p:6231-:d:1226689
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    References listed on IDEAS

    as
    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. Krzysztof Szabat & Karol Wróbel & Krzysztof Dróżdż & Dariusz Janiszewski & Tomasz Pajchrowski & Adrian Wójcik, 2020. "A Fuzzy Unscented Kalman Filter in the Adaptive Control System of a Drive System with a Flexible Joint," Energies, MDPI, vol. 13(8), pages 1-18, April.
    3. Dominik Łuczak, 2021. "Nonlinear Identification with Constraints in Frequency Domain of Electric Direct Drive with Multi-Resonant Mechanical Part," Energies, MDPI, vol. 14(21), pages 1-12, November.
    4. Karol Wróbel & Kacper Śleszycki & Krzysztof Szabat & Seiichiro Katsura, 2021. "Application of Multilayer Observer for a Drive System with Flexibility," Energies, MDPI, vol. 14(24), pages 1-19, December.
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    Cited by:

    1. Mateusz Malarczyk & Seiichiro Katsura & Marcin Kaminski & Krzysztof Szabat, 2024. "A Novel Meta-Heuristic Algorithm Based on Birch Succession in the Optimization of an Electric Drive with a Flexible Shaft," Energies, MDPI, vol. 17(16), pages 1-34, August.

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