PID Controller Design Methods for Multi-Mass Resonance System

Abstract

Motor drive systems are indispensable for applications in the industrial field. High-speed and high-accuracy control is required for motor drive systems. However, solutions to meet these requirements can cause mechanical resonance vibrations to occur in the system as a result of miniaturization and system weight reduction. It is therefore necessary to model these systems as multi-mass resonance systems with multiple masses and finite rigid shafts, gears, and loads. In addition, vibration suppression control should be applied to these systems. This chapter provides two off-line tuning methods for a digital proportional-integral-derivative (PID)-type controller for a two-mass resonance system to suppress its mechanical resonance vibrations. These methods include a coefficient diagram method and a fictitious reference iterative tuning method. The former method uses a nominal mathematical model of the object while the latter method uses only the initial experimental data without use of the mathematical model. In this chapter, the two methods are compared. A controller is proposed that consists of a modified integralproportional derivative (I-PD) speed controller and a proportional-integral (PI) current controller, and requires no information about the load side state variables. Finally, the effectiveness of the proposed method is confirmed through computer simulations and experimental results.

Backstepping-Sliding Mode Control Combined with Load Torque Neural Network Observer for a Two – Mass System

“…However, the two-mass system is a nonlinear drive system, so this PID controller for high efficiency when is not affected by noise. In the other study [4], the m-IPD speed controller gains for TMS with Kp, Ki, KD, and TD coefficients are determined by calculating and choosing the appropriate coefficients for m-IPD speed controller, thus, the drive system responds to the desired load speed. This controller for positive results gives better than PID controller, however unresolved problem resonance oscillation at coupling axis.…”