A Microprocessor-Based Motor Speed Regulator Using Fast-Response State Observer for Reduction of Torsional Vibration

Ohmae, Tsutomu; Matsuda, Toshihiko; Kanno, Minoru; Saito, Keiji; Sukegawa, Takashi

doi:10.1109/tia.1987.4504996

Cited by 44 publications

(17 citation statements)

References 5 publications

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“…Despite higher tracking error (expected by design) vibrations were effectively suppressed. In order to demonstrate the improvement achieved by this algorithm the term γ(ẅ + αẇ) has been omitted from (7) and the experiments are depicted in Fig. 6.…”

Section: Resultsmentioning

confidence: 99%

Improved Design of VSS Controller for a Linear Belt-Driven Servomechanism

Hace

Jezernik

Şabanoviç

2005

IEEE/ASME Trans. Mechatron.

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This paper proposes a new control algorithm for a linear belt-driven servomechanism. The elasticity of the belt and large nonlinear friction along with large variation of parameters limit the applicability of the belt driven servosystems. Design of simple control that can guarantee stable, vibration-free operation for large variation of load is needed to extend application of such a linear stage. The proposed control is based on the application of sliding mode methods combined with Lyapunov design so it guarantees the stability of the system. Due to the restriction of the system motion to specially selected sliding mode manifold the vibration free position tracking is achieved with very good disturbance rejection. Proposed algorithm is simple and practical for an implementation and the tuning procedure of the control parameters is simple. The experiments have shown that the proposed control scheme effectively suppresses vibrations and assures wide closed-loop bandwidth for position tracking control.

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Section: Resultsmentioning

confidence: 99%

Improved Design of VSS Controller for a Linear Belt-Driven Servomechanism

Hace

Jezernik

Şabanoviç

2005

IEEE/ASME Trans. Mechatron.

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“…In addition, the parameter d is real number. In reference [4], vector fitting cleverly transform the illconditioned system of equations containing coefficients with high frequency power into overdetermined linear equations, and then solve the least squares solution. To solve overdetermined linear equations, orthogonal transformation and normalization methods are used to improve the numerical stability in vector fitting.…”

Section: Model Based On Vector Fittingmentioning

confidence: 99%

“…(3)a filter replaces the conventional observer to conduct immeasurable observance, then the state feedback method, aimed at resonance restraint and tracking, is adopted to make configuration of the system poles arbitrarily [3] . Additionally, based on the information about the position and the speed signal, the observer is utilized to estimate the parameter, such as the speed of the mechanical load, to achieve the restraining effect [4]- [7] .…”

Section: Introductionmentioning

confidence: 99%

Mechanical Resonance Modeling and Forecasting in Servo Systems Based on Vector Fitting

Ren

2013

2013 International Conference on Mechanical and Automation Engineering

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The transmission mechanisms in servo systems have finite stiffness, therefore the elastic deformation and the rotary inertia would cause mechanical resonance in servo systems. Based on the theoretical analysis of the mechanical resonance, the quantitative relation between transfer function of the resonance and system parameters (including torsional elastic coefficient and load rotary inertia) is built. In this paper, the rational approximation of mechanical resonance amplitudefrequency characteristics is calculated by vector fitting method in the presence of known system parameter. With different given system parameters, the nonlinear mapping between system parameters and the transfer function of mechanical resonance through sample training is established through sample training. Therefore, the effective prediction of the transfer function of mechanical resonance with regards to the variation of servos conditions can be realized.

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“…The feedback controller is used to stabilize the feedback loop and to reject the loading torque (such as friction) acting on the system. The types of feedback controllers can be roughly categorized into five groups: 1) proportional integral (PI) or PI derivative (PID) controller [5]- [10]; 2) PI controller augmented with additional feedbacks [5], [8], [11], [12]; 3) PI controller and output filtering [5], [13]- [15]; 4) state-feedback controller [4], [6], [16], [17];…”

Section: Introductionmentioning

confidence: 99%

State-Space Speed Control of Two-Mass Mechanical Systems: Analytical Tuning and Experimental Evaluation

Saarakkala

Hinkkanen

2014

IEEE Trans. on Ind. Applicat.

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Abstract-This paper proposes a model-based two-degrees-offreedom (2DOF) state-space speed controller design for a twomass mechanical system. Analytical tuning rules for a feedback gain, reduced-order state observer, full-order state observer, and prefilter are derived. The proposed design rules enable automatic tuning of the controller if the mechanical parameters are known. The prefilter is designed for step, ramp, and parabolic command tracking. The effects of the time delay, measurement noise, and parameter variations on controller tuning and control performance are studied by means of Nyquist diagrams, noise transfer functions, and time-domain simulations. It is shown that the full-order observer based controller is a preferable choice, especially if the feedback loop is delayed and noisy. The proposed controller design is experimentally evaluated using two 4-kW servo motors coupled with toothed belt; good reference tracking for step and dynamic commands as well as robust and fast loadtorque rejection is demonstrated.

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A Microprocessor-Based Motor Speed Regulator Using Fast-Response State Observer for Reduction of Torsional Vibration

Cited by 44 publications

References 5 publications

Improved Design of VSS Controller for a Linear Belt-Driven Servomechanism

Improved Design of VSS Controller for a Linear Belt-Driven Servomechanism

Mechanical Resonance Modeling and Forecasting in Servo Systems Based on Vector Fitting

State-Space Speed Control of Two-Mass Mechanical Systems: Analytical Tuning and Experimental Evaluation

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