CONTROL OF AN ELECTROMECHANICAL SYSTEM WITH CLEARANCE AND ELASTIC DEFORMATIONS

The problem of control design for an electromechanical tracking system with clearance and elasticity in mechanical transmission is considered by using an adaptive-modal controller and an adaptive state observer. Since it is not possible to eliminate persistent electromechanical oscillations in a tracking system with elasticity and clearance by means of modal control, an approach was used to solve the problem of improving the system accuracy and dynamics performance, which provides for the use of model reference adaptive control and signal (relay) adaptation in the electric motor speed control subsystem in combination with the signal adaptation of the electromechanical plant state observer in order to reduce the distortion of the estimates of the variables generated by the observer caused by the nonlinearity of the plant. This approach provided effective damping of the arising oscillations and made it possible to significantly increase the accuracy of the tracking system. The paper also shows a practical approach to the choice of the values of the weighting coefficients for the components of the reference model tracking error vector for the speed control subsystem, as well as a technique of assigning the gain factors of adaptive circuits in the state observer.

Authors: Nguyen Duy Khanh, V. B. Vtorov

Direction: Informatics, Computer Technologies And Control

Keywords: Elastic two-mass electromechanical system, clearance, modal controller, adaptive controller, adaptive state observer

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