| Abstract |
In this paper two robust position controls for an elastic coupled, nonlinear two-mass system are
presented. One for the drive side, and a full state control for the load side. Using the „Exact
Linearization“ as a basis, both control designs take the backlash into account. The state control is one
part of the „Exact Linearization“. The choice of the eigenvalues is important here, because variations
of parameters must also be considered. To reach steady state accuracy while disturbances occur in the
system, the controls must be expanded. Therefore an additional „precontrol“ for the drive side control
is designed. The full state control is expanded for the same reason by a PI-control.
Both controls can handle oscillation, caused by elastic coupling, backlash and nonlinear friction. It is
robust to variations of parameters. This includes large variations (400%) of the load moment of
inertia. Some results are already tested on a test plant. More measurements to confirm the simulations
are expected on the congress. |
