Dynamic Emulation of Mechanical Loads—An Approach Based on Industrial Drives' Features

Abstract

Original scientific paperDynamic emulation of mechanical loads presents a modern and interesting approach for testing and validating performance of electrical drives without a real mechanical load included in the test rig. The paper presents an approach to dynamic emulation of mechanical loads when the load torque and inertia mass of emulated load can be significantly greater than that of laboratory test rig. Closed-loop control of load torque and feedforward compensation of inertia and friction torques are used in a test rig. The approach is focused on the use with standard industrial converters. The described method can be used for design and validation of speed control algorithms in mechatronic applications. Experimental results with the emulation of linear loads are presented in end of the paper.Key words: Dynamic emulation, Test rig, Industrial drive, RT-LAB Dinamička simulacija mehaničkih opterećenja -pristup zasnovan na svojstvima industrijskih elektromotornih pogona. Dinamička simulacija mehaničkih opterećenja predstavlja moderan i zanimljiv pristup testiranju i validaciji ponašanja elektromotornih pogona bez uključenog stvarnog mehaničkog opterećenja u eksperimentalni postav. U radu je predstavljen pristup s dinamičkom simulacijom mehaničkih opterećenja za slučaj kada moment tereta ili moment tromosti simuliranog tereta mogu biti daleko veći od onih dostupnih u eksperimentalnom postavu. U postavu se koristi upravljanje momentom tereta u zatvorenoj petlji uz unaprijednu petlju kompenzacije momenta tromosti i momenata trenja. Pristup je usmjeren na upotrebu standardnih industrijskih pretvarača. Opisana metoda može se koristiti za sintezu i validaciju algoritama za upravljanje po brzini u mehatroničkim primjenama. U radu su predstavljeni eksperimentalni rezultati za slučaj simulacije linearnih tereta.Ključne riječi: dinamička simulacija tereta, eksperimentalni postav, industrijski elektromotorni pogon, RT-LAB

Dynamic emulation of mechanical loads with backlash based on rapid control prototyping

“…The dynamics of a linear load are presented in (10). Experimental results of its emulation are presented in Fig.…”

“…Speed or position controller of the DUT is tested using a programmable electrical dynamometer that is able to emulate behaviour of any desired mechanical load set by the user. In other words, the dynamometer loads the DUT in such a way that it emulates behaviour of any mechanical load whose mathematical model is known and implemented in the dynamometer control structure - [5], [8], [10]. In this sense the emulation presents an imitation of the system (mechanical load) by another technical device (dynamometer) so that the imitating system behaves in the same way as the imitated system would do.…”

“…Furthermore, an electric pump mechanism and simplified vehicle mechanics were emulated successfully. Industrial converters as a part of hardware-in-theloop (HIL) emulator were presented in [10] and [11]. Here, also a novel control structure based on per-normal inertia was studied.…”

A Robust Emulation of Mechanical Loads Using a Disturbance-Observer

“…In [8], the authors proposed an alternative controller, called feedforward-tracking, where a feedforward term was added to compensate the motor torque, and the load emulation was performed by an additional speed control loop. This controller has been well accepted in the industry, and its performance has been verified through various experimental results, e.g., emulation of a flexible-shaft [9], emulation of the model by applying the parametric system identification method [5], and some experiments using industrial drives [10]. It is noted that in the above approaches, the effect of plant uncertainties on system stability and performance were not explicitly addressed.…”

New Design Solutions of Tangential Pneumatic Torsional Vibration Tuners

“…Nowadays, the reduction of vibration and noise of machines is a very important task, mainly in terms of human health, comfort and the lifetime and safety of machines, for example [6,9,14,12]. Great emphasis is placed on the use of modern progressive technologies in order to improve electric and combustion engines for efficiency, better emissions and dynamics, for example [4,5,10]. Flexible shaft couplings are the most utilised machine parts for the flexible transmission of load torque in machines with rotary power transmission.…”