EPE Association: EPE-PEMC 2008 - Topic: Control Problems of Drive Systems With Elastic Joints

EPE-PEMC 2008 - Topic: Control Problems of Drive Systems With Elastic Joints
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Control Problems of Drive Systems With Elastic Joints

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   Control of Flexible Drive with PMSM Employing Forced Dynamics
By Vittek Ján, Briš Peter, Makyš Pavol, Štulrajter Marek and Vavruš Vladimír [View]
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Abstract: Forced dynamics control principles are exploited to develop control algorithms for electric drive with PMSM and flexible couplings. The controller is of the cascade structure, comprising an inner speed control loop, which respects the principles of vector control and requires a load torque estimate and an outer position control loop, which is designed to control the PMSM rotor or load angle in the presence of the vibrations due to flexible coupling including an external load torques. Computation of PMSM stator voltage is based on novel algorithm exploiting forced dynamics control. Derived control laws require the estimates of the load torque and its derivatives estimated in the set of observers. Control algorithm is verified by simulations and preliminary experiments indicating good agreements with theoretical predictions, therefore further experimental verification of the designed control algorithm is recommended.

   Development of an Expert System for Identification, Commissioning and Monitoring of Drives
By Mario Pacas [View]
[Download]

Abstract: The present paper deals with identification methods for the automatic commissioning and condition monitoring of electrical drives. This works is considered as a contribution to the development of expert systems, taking into account parameter-fitting, backlash detection and the diagnosis of rolling bearing faults. The basic method is the measurement of the frequency response of the mechanical system of the drive.

   Low-Cost High-Performance Predictive Control of Drive Systems with Elastic Coupling
By Marcin Cychowski [View]
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Abstract: Effective damping of torsional oscillations while guaranteeing desired speed response characteristics and satisfaction of safety and operational constraints remains the main challenge in control of modern industrial drive systems with elastic couplings. This paper investigates the application of an explicit approach to the design of Model Predictive Control (MPC) for the drive system with elastic coupling. The resulting explicit MPC controller achieves the same level of performance as the conventional MPC, but requires only a fraction of the real-time computational machinery, thus leading to fast and reliable implementation. The main advantage of the proposed approach is that the drive physical and safety limitations can be directly incorporated into the control problem formulation and thus enforced explicitly during the operation of the controller. The results are compared to the current state of the art demonstrating the potential for notable performance improvements.

   Neuro-Fuzzy Adaptive Control of the IM Drive with Elastic Coupling
By Teresa Orlowska-Kowalska, Krzysztof Szabat and Mateusz Dybkowski [View]
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Abstract: The paper deals with two concepts of a model reference adaptive control (MRAC) of the induction motor drive with elastic joint. The adaptive speed controller uses fuzzy neural network equipped with additional option for on-line tuning its chosen parameters. In the paper PI-type and sliding-mode fuzzy logic controllers are used as the speed controllers, whose connective weights are trained online according to the error between the state variable of the plant and the reference model. The torsional vibrations dumping abilities of the two-mass drive system with the field oriented control of induction motor are tested and compared for both analyzed neuro-fuzzy adaptive controllers. It is shown that torsional oscillations can be successfully suppressed in the proposed control structures, using only one basic feedback from the motor speed. The simulation results are verified in experimental tests, in the wide range of motor speed and parameters changes.

   Protective Predictive Control of Electrical Drives with Elastic Transmission
By Mario Vašak [View]
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Abstract: In this paper we propose a protective predictive control scheme for motor drives with elastic transmission that are subject to physical and safety constraints on their variables. Namely, we extend the classical LQR controller with a safety set obtained using invariant sets methodology. The easy implementation of this set on-line allows the correction of the LQR control signal in order to suppress the violation of constraints and thus avoid possibly dangerous situations during the drive transients. The added protective algorithm can be also used with any other drive control scheme to correct its outputted control signal.

   The Problems of High Dynamic Drive Control Under Circumstances of Elastic Transmission
By Jan Deskur [View]
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Abstract: In the paper the theoretical, design as well as experimental aspects of the control of high dynamic drive with elastic coupling are considered. It is shown that the solutions of problem of vibration damping, suitable for the drives with low natural torsional frequency, give not good result at high dynamic. In this case the low frequency can be higher than several tens or 100 Hz and the next frequency of the multi-mass model can be thousand Hz and higher. Authors show the way of suppression of oscillations, based on the adequate PID speed controller. In the solutions only one sensor i.e. position encoder is used. The paper presents experience acquired during studying the problem, designing and investigating the laboratory plant based on the PMSM.

EPE-PEMC 2008 - Topic: Control Problems of Drive Systems With Elastic Joints
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Control Problems of Drive Systems With Elastic Joints
	[return to parent folder]

	Control of Flexible Drive with PMSM Employing Forced Dynamics By Vittek Ján, Briš Peter, Makyš Pavol, Štulrajter Marek and Vavruš Vladimír	[View] [Download]
Abstract: Forced dynamics control principles are exploited to develop control algorithms for electric drive with PMSM and flexible couplings. The controller is of the cascade structure, comprising an inner speed control loop, which respects the principles of vector control and requires a load torque estimate and an outer position control loop, which is designed to control the PMSM rotor or load angle in the presence of the vibrations due to flexible coupling including an external load torques. Computation of PMSM stator voltage is based on novel algorithm exploiting forced dynamics control. Derived control laws require the estimates of the load torque and its derivatives estimated in the set of observers. Control algorithm is verified by simulations and preliminary experiments indicating good agreements with theoretical predictions, therefore further experimental verification of the designed control algorithm is recommended.

	Development of an Expert System for Identification, Commissioning and Monitoring of Drives By Mario Pacas	[View] [Download]
Abstract: The present paper deals with identification methods for the automatic commissioning and condition monitoring of electrical drives. This works is considered as a contribution to the development of expert systems, taking into account parameter-fitting, backlash detection and the diagnosis of rolling bearing faults. The basic method is the measurement of the frequency response of the mechanical system of the drive.

	Low-Cost High-Performance Predictive Control of Drive Systems with Elastic Coupling By Marcin Cychowski	[View] [Download]
Abstract: Effective damping of torsional oscillations while guaranteeing desired speed response characteristics and satisfaction of safety and operational constraints remains the main challenge in control of modern industrial drive systems with elastic couplings. This paper investigates the application of an explicit approach to the design of Model Predictive Control (MPC) for the drive system with elastic coupling. The resulting explicit MPC controller achieves the same level of performance as the conventional MPC, but requires only a fraction of the real-time computational machinery, thus leading to fast and reliable implementation. The main advantage of the proposed approach is that the drive physical and safety limitations can be directly incorporated into the control problem formulation and thus enforced explicitly during the operation of the controller. The results are compared to the current state of the art demonstrating the potential for notable performance improvements.

	Neuro-Fuzzy Adaptive Control of the IM Drive with Elastic Coupling By Teresa Orlowska-Kowalska, Krzysztof Szabat and Mateusz Dybkowski	[View] [Download]
Abstract: The paper deals with two concepts of a model reference adaptive control (MRAC) of the induction motor drive with elastic joint. The adaptive speed controller uses fuzzy neural network equipped with additional option for on-line tuning its chosen parameters. In the paper PI-type and sliding-mode fuzzy logic controllers are used as the speed controllers, whose connective weights are trained online according to the error between the state variable of the plant and the reference model. The torsional vibrations dumping abilities of the two-mass drive system with the field oriented control of induction motor are tested and compared for both analyzed neuro-fuzzy adaptive controllers. It is shown that torsional oscillations can be successfully suppressed in the proposed control structures, using only one basic feedback from the motor speed. The simulation results are verified in experimental tests, in the wide range of motor speed and parameters changes.

	Protective Predictive Control of Electrical Drives with Elastic Transmission By Mario Vašak	[View] [Download]
Abstract: In this paper we propose a protective predictive control scheme for motor drives with elastic transmission that are subject to physical and safety constraints on their variables. Namely, we extend the classical LQR controller with a safety set obtained using invariant sets methodology. The easy implementation of this set on-line allows the correction of the LQR control signal in order to suppress the violation of constraints and thus avoid possibly dangerous situations during the drive transients. The added protective algorithm can be also used with any other drive control scheme to correct its outputted control signal.

	The Problems of High Dynamic Drive Control Under Circumstances of Elastic Transmission By Jan Deskur	[View] [Download]
Abstract: In the paper the theoretical, design as well as experimental aspects of the control of high dynamic drive with elastic coupling are considered. It is shown that the solutions of problem of vibration damping, suitable for the drives with low natural torsional frequency, give not good result at high dynamic. In this case the low frequency can be higher than several tens or 100 Hz and the next frequency of the multi-mass model can be thousand Hz and higher. Authors show the way of suppression of oscillations, based on the adequate PID speed controller. In the solutions only one sensor i.e. position encoder is used. The paper presents experience acquired during studying the problem, designing and investigating the laboratory plant based on the PMSM.