EPE Association: EPE 1989 - 42 - Dialogue Session 3.4: MULTI-MOTOR DRIVES

EPE 1989 - 42 - Dialogue Session 3.4: MULTI-MOTOR DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 42 - Dialogue Session 3.4: MULTI-MOTOR DRIVES

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   A SMOOTH POSITIONING SYSTEM USING FEEDFORWARD COMPENSATION AND PARAMETER IDENTIFICATION
By Louis-A. Dessaint; Bernard Hébert; Hoang Le-Huy [View]
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Abstract: This paper will describe the implementation of a self-tuning regulator for the positioning of a direct-drive servo motor. The servo motor is a permanent magnet DC motor in which no gear reducer is used. The auto-tuning regulator consists o f two major loops. The inner loop contains a feedback (PD or PID) regulator with additional feedforward terms. The parameters of the regulator are adjusted by the outer loop which contains an on-line parameter estimator. The estimated parameters are the load inertia and friction. This auto-tuning scheme has been simulated and the results have been reported in a previous publication [1]. The real-time implementation of the controller is based on the use of a digital signal processor which is particularly well suited for adaptive control applications.

   COMPENSATlON OF COULOMB FRICTION IN INDUSTRlAL ELASTIC TWO-MASS SYSTEMS THROUGH MODEL REFERENCE ADAPTIVE CONTROL
By U. Schäfer; G. Brandenburg [View]
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Abstract: In industrial high-precision pointing and tracking systems, such as machine tools and robots f.e., Coulomb friction decreases the static and dynamic performance of the speed- and position- control. A simplified model reference adaptive control (MRAC) is described, which avoids limit cycles, minimizes standstill periods and, at the same time, is able to identify the parameters of the Coulomb friction characteristic.

   TRACTION AND SPEED CONTROL OF AN IRON STRIP IN A CONTINUOUS ANNEALING LINE
By F. Parant; C. lung [View]
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Abstract: The problem of elastic strip driving on a great distance by a lot of driven motors has been studied (1). In the paper, it is shown that a singular Perturbation Analysis of a model (2) enables to find the oscillatory modes of the system. Then an algorithm of pole placement using Output Feedback (3), (4), (5) is used to pre-calculate the coefficients of regulators before the putting into service of the industrial plant and thus to ensure a good stability of the system.

   VARIABLE STRUCTURE CONTROL OF ROBOT JOINT SERVOSYSTEM
By Zhou Guang-Hua; Zhao Jia-Bi [View]
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Abstract: The sliding mode variable structure control systems based on discontinuous control have advantages on such aspects as being insensitive to certain parameter variations and disturbances, requiring little computational effort. In this paper, by means of variable structure control (VSC) theory, some designs were made toward a special kind of servosystems-robot joint servosystems. The control system schematics are given and simple results are shown for illustration. These tests may serve as a basis for further applications of VSC.

EPE 1989 - 42 - Dialogue Session 3.4: MULTI-MOTOR DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 42 - Dialogue Session 3.4: MULTI-MOTOR DRIVES
	[return to parent folder]

	A SMOOTH POSITIONING SYSTEM USING FEEDFORWARD COMPENSATION AND PARAMETER IDENTIFICATION By Louis-A. Dessaint; Bernard Hébert; Hoang Le-Huy	[View] [Download]
Abstract: This paper will describe the implementation of a self-tuning regulator for the positioning of a direct-drive servo motor. The servo motor is a permanent magnet DC motor in which no gear reducer is used. The auto-tuning regulator consists o f two major loops. The inner loop contains a feedback (PD or PID) regulator with additional feedforward terms. The parameters of the regulator are adjusted by the outer loop which contains an on-line parameter estimator. The estimated parameters are the load inertia and friction. This auto-tuning scheme has been simulated and the results have been reported in a previous publication [1]. The real-time implementation of the controller is based on the use of a digital signal processor which is particularly well suited for adaptive control applications.

	COMPENSATlON OF COULOMB FRICTION IN INDUSTRlAL ELASTIC TWO-MASS SYSTEMS THROUGH MODEL REFERENCE ADAPTIVE CONTROL By U. Schäfer; G. Brandenburg	[View] [Download]
Abstract: In industrial high-precision pointing and tracking systems, such as machine tools and robots f.e., Coulomb friction decreases the static and dynamic performance of the speed- and position- control. A simplified model reference adaptive control (MRAC) is described, which avoids limit cycles, minimizes standstill periods and, at the same time, is able to identify the parameters of the Coulomb friction characteristic.

	TRACTION AND SPEED CONTROL OF AN IRON STRIP IN A CONTINUOUS ANNEALING LINE By F. Parant; C. lung	[View] [Download]
Abstract: The problem of elastic strip driving on a great distance by a lot of driven motors has been studied (1). In the paper, it is shown that a singular Perturbation Analysis of a model (2) enables to find the oscillatory modes of the system. Then an algorithm of pole placement using Output Feedback (3), (4), (5) is used to pre-calculate the coefficients of regulators before the putting into service of the industrial plant and thus to ensure a good stability of the system.

	VARIABLE STRUCTURE CONTROL OF ROBOT JOINT SERVOSYSTEM By Zhou Guang-Hua; Zhao Jia-Bi	[View] [Download]
Abstract: The sliding mode variable structure control systems based on discontinuous control have advantages on such aspects as being insensitive to certain parameter variations and disturbances, requiring little computational effort. In this paper, by means of variable structure control (VSC) theory, some designs were made toward a special kind of servosystems-robot joint servosystems. The control system schematics are given and simple results are shown for illustration. These tests may serve as a basis for further applications of VSC.