Title :
Optimal motion control of elastic plants
Author :
Palis, F. ; Buch, A. ; Ladra, U.
Author_Institution :
Inst. Elektroantriebstechnik, Magdeburg Univ. of Technol., Germany
Abstract :
Using modal analysis the dynamic behaviour of elastic plants is reduced to a 4th order system. Applying the maximum principle of Pontrjagin time and energy optimal control laws are calculated for a 4th order modal model. The influence of parameter variations, model approximation and other disturbances is compensated by an additional closed-loop control algorithm based on a special coordinate transformation to a cascade model
Keywords :
closed loop systems; compensation; elasticity; flexible structures; maximum principle; motion control; optimal control; cascade model; closed-loop control algorithm; coordinate transformation; disturbances; elastic plants; energy-optimal control; maximum principle; modal analysis; model approximation; optimal motion control; parameter variations; time-optimal control; Approximation algorithms; Cascading style sheets; Equations; Frequency; Kinematics; Mathematical model; Modal analysis; Modems; Motion control; Optimal control;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509313
