DocumentCode :
1737431
Title :
Control of a nonlinear two-mass system with uncertain parameters and unknown states
Author :
Schöling, I. ; Orlik, B.
Author_Institution :
Inst. for Electr. Drives, Power Electron. & Devices, Bremen Univ., Germany
Volume :
2
fYear :
2000
fDate :
2000
Firstpage :
1096
Abstract :
In this paper, three different kinds of position controls for a nonlinear two-mass system are presented. The control design for all three kinds directly takes the backlash into account. Uncertainties of parameters and nonlinear friction are also considered. The presented nonlinear control design is based on “exact linearization” in combination with an approximation of the backlash. The design results in three control structures, depending on whether the angle is measured at the drive side only, both sides or the load side only. Results of a test set-up are presented for the first two control structures. The third control structure has been tested in simulations
Keywords :
control system analysis; control system synthesis; linearisation techniques; machine control; machine testing; machine theory; motor drives; nonlinear control systems; position control; robust control; uncertain systems; backlash; control performance; control simulation; control structures; exact linearization; motor drives; nonlinear two-mass system control; position control design; uncertain parameters; unknown states; Adaptive control; Control design; Control systems; Friction; Nonlinear control systems; Position control; Robust control; Shafts; Testing; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industry Applications Conference, 2000. Conference Record of the 2000 IEEE
Conference_Location :
Rome
ISSN :
0197-2618
Print_ISBN :
0-7803-6401-5
Type :
conf
DOI :
10.1109/IAS.2000.881968
Filename :
881968
Link To Document :
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