DocumentCode :
1073572
Title :
Kalman filter and LQ based speed controller for torsional vibration suppression in a 2-mass motor drive system
Author :
Ji, Jun-Keun ; Sul, Seung-Ki
Author_Institution :
Dept. of Control & Instr., Soonchunhyang Univ., Chungnam, South Korea
Volume :
42
Issue :
6
fYear :
1995
fDate :
12/1/1995 12:00:00 AM
Firstpage :
564
Lastpage :
571
Abstract :
In this paper, a high-performance speed control for torsional vibration suppression in a 2-mass motor drive system, like a rolling mill which has a long shaft and large loadside mass or a robot arm which has flexible coupling, was studied. The speed control method which has better control response than a typical one in command following, torsional vibration suppression, disturbance rejection, and robustness to parameter variation, was proposed. The performance of command following, torsional vibration suppression, and robustness to parameter variation was satisfied by using a Kalman filter and LQ based speed control with an integrator. Also, disturbance rejection performance was improved through load torque compensation. Through various experiments of a real 22 kW field oriented controlled AC motor drive system having 2-mass mechanical system, the characteristics of the proposed speed controller and typical PI speed controller were compared and analyzed
Keywords :
AC motor drives; Kalman filters; compensation; controllers; linear quadratic control; machine control; torque control; torsion; two-term control; velocity control; vibration control; 2-mass mechanical system; 2-mass motor drive system; 22 kW; Kalman filter; LQ based speed controller; PI speed controller; command following; disturbance rejection; field oriented controlled AC motor drive; integrator; load torque compensation; parameter variation robustness; robot arm; rolling mill; speed control; torsional vibration suppression; Control systems; Couplings; Milling machines; Motor drives; Robots; Robust control; Shafts; Torque; Velocity control; Vibration control;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/41.475496
Filename :
475496
Link To Document :
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