A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
<p>This paper presents the design and control of an autonomous robot-automation guided vehicle (AGV) with a load of 50 kg and a DC motor in theory and experiment. This robot has the function of transporting tools and equipment in the factory. This robot is designed and built control system including hardware and software. In which microcontroller type STM32F407VG is selected to control the primary system. The AGV robot is controlled to move according to the required trajectory. A PID controller controls the DC motor. The AGV robot moves precisely according to the routes set in the factory. At the same time, the AGV has good obstacle avoidance. The results of the proposed solution are proven through simulation and experiment.</p>
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