Compliance compensation in mechatronic systems

Colombi, S.; Raimondi, T.

doi:10.1109/iecon.1994.397916

Cited by 6 publications

(6 citation statements)

References 2 publications

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“…For that reason, the suppression of mechanical vibrations is a control problem that attracted the attention of many researchers over the past decade. Solutions being proposed may be divided into the following three groups: 1) control strategies based on the direct measurement of motor-and load-side variables [15], [22], [24]; 2) strategies involving only one feedback device attached to the motor and the observer that estimates remaining states [2]- [4], [8], [10], [12], [13]; and 3) vibration suppression strategies based upon the notch filtering and phase-lead compensation applied in conventional speed control structures [4], [16], [17], [23].…”

Section: Introductionmentioning

confidence: 99%

“…The desired damping is obtained by adding a control term proportional to the speed difference [15], [17], [22], which requires measurements of both the motor and load velocities. The application of two shaft sensors is impractical in an industrial environment and, therefore, many authors suggested that the shaft torque and load speed be obtained by means of the state observer [2], [3], [12], [13].…”

Section: Introductionmentioning

confidence: 99%

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Suppression of torsional oscillations in a high-performance speed servo drive

Vukosavić

Stojic

1998

IEEE Trans. Ind. Electron.

187

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This paper deals with the problem of mechanical resonance in modern servo drive systems having the speed control loop bandwidth and resonance frequency above 100 Hz. To enable the extension of the range of stable gains in the presence of flexible coupling, a simple and straightforward modification of the speed loop controller is proposed in order to augment the performance of present speed controllers and to make them accordant with mechanical structure suffering from the compliance problem. This paper is comprised of the analytical considerations, straightforward design guidelines, and results of experimental verification obtained by an experimental setup with the elastically coupled 7-N1m synchronous servo motor and mechanical resonance frequency of 160 Hz.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Suppression of torsional oscillations in a high-performance speed servo drive

Vukosavić

Stojic

1998

IEEE Trans. Ind. Electron.

187

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“…The conventional methods of restraining the mechanical resonance include: (1)Use the transducer to measure the position and the speed signal of the motor and the load, then estimate the state of the mechanical resonance to be restrained according to the measurement [1] . (2)Instead of using high-speed interference suppressor to restrain the mechanical resonance, low-speed interference suppressor would create better effect [2] .…”

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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“…Modeling of belt-pulley and gear-pair transmission system with gear backlash is given in [16]. Analysis and control of speed drive systems with torsional loads is reported in [17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions

Raul

Dwivedula²,

Pagilla

2016

ISA Transactions

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The problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed.

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Compliance compensation in mechatronic systems

Cited by 6 publications

References 2 publications

Suppression of torsional oscillations in a high-performance speed servo drive

Suppression of torsional oscillations in a high-performance speed servo drive

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

Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions

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