Modeling and control of an Electric drive system with continuously variable reference, moment of inertia and load disturbance

State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia

“…The proposed control solutions will be designed for three significant values of the moment of inertia of the load disk, J load : the initial value J load,init =0.0065kgm 2 (without weights on the load disk), the average value J load,avg =0.01474kgm 2 (four brass weights of 0.2 kg each), and the maximum value J load,max =0.0271kgm 2 (four brass weights of 0.5 kg each). Based on past experience (Stinean et al, 2013a(Stinean et al, , 2013b(Stinean et al, , 2015…”

“…where: J drive -the inertia of the drive disk, J d_drivethe inertia of the bare drive disk, drive motor, encoder, drive disk/motor belt and pulleys, J w_drivethe inertia associated with the brass weights at the drive disk, J load -the inertia of the load disk, J d_load -the inertia of the bare load disk, disturbance motor, encoder, load disk/motor belt and pulleys, J w_loadthe inertia associated with the brass weights at the load disk, J p -the pulley inertia, J p_drive , J p_load -the inertia associated with the pulleys in the masses assembly, J p_backlash -the inertia of the backlash mechanism, gr -the drive train gear ratio, gr ' -the partial gear ratio between the idler pulley assembly and the drive disk, n pd -the number of teeth on bottom pulley, n pl -the number of teeth on top pulley, c 1 ,c 2 -the drive and load friction (modelled as viscous), c 12 -the coupled friction, and k -the rotary (torsional) spring constant. The parameters of the servo system M220IPE used in the SFC design are (ECP, 2010;Stinean et al, 2013a) Nm/rad. 45 .…”

“…The mechatronics application considered in this paper is the Model 220 Industrial Plant Emulator (M220IPE) laboratory equipment, which is a complex and nonlinear device that illustrates and models industrial processes with variable inertia (ECP, 2010;Stinean et al, 2013aStinean et al, , 2013b. The main advantages of M220IPE are the possibility to adjust the dynamic parameters and the ability to introduce and remove non-ideal proprieties in a controlled manner.…”

“…A data-driven design method of a PID controller and a robust feedback control designed for mechanisms with backlash are given in (Saeki and Kishil, 2011). Fuzzy and neuro-fuzzy control solutions are investigated in (Stinean et al, 2013a(Stinean et al, , 2013b(Stinean et al, , 2015.…”

Low speed control and implementation of permanent magnet synchronous motor for mechanical elastic energy storage device with simultaneous variations of inertia and torque

“…In contrast with the former two cases, the third case is more complicated and relatively fewer literatures have been retrieved. A proportional–integral (PI) controller [15] and Takagi‐Sugeno PI fuzzy controller [16] are presented for a DC electric drive system. In [17], load torque observer and inertia identification are, respectively, designed to observe parameters and suppress perturbation simultaneously.…”