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Synthesis of the Robust Electric Drive for Robot Control Using PI Controllers Parameterization on the Basis of Root Locus Approach
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| Author(s) |
Alla NESENCHUK |
| Abstract |
A robust control methods are proposed in the paper. This methods provide sufficient conditions for control system roots placement within a required complex plane region in conditions of the plant parameters interval uncertainty. The methods are based on the root locus theory and are applicable for PI controllers parameterization in electric drive vector control systems, mainly in cases of plant parameters uncertainty. The n-axial robot arms electrical drive control system features substantial plant parameters variations due to the inertia factors deviation when the arms rotate. So, the control system must assure robustness to the plant parameters variations. For PI controllers parameterization the low order linearized plant model is applied. Though such a model differs significantly from the real nonlinear MIMO system, the robust control offers the necessary dynamics quality. The simulation results are represented for two axes arm of industrial robot and confirm the effectiveness of the developed methods. |
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| Filename: | 0420-epe2019-full-16514877.pdf |
| Filesize: | 534.1 KB |
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| Type |
Members Only |
| Date |
Last modified 2020-08-14 by System |
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