Title :
Robust control of linear DC motor with flexibility
Author :
Ikeda, Makoto ; Hashimoto, Hideki
Author_Institution :
Asahi Chem. Ind. Co. Ltd., Shizuoka, Japan
Abstract :
The authors have developed a wire-driven system with a linear type actuator. A wire-driven system is difficult to use because of its unknown dynamics and uncertainties. In this study, a wire-driven system was modeled as a 2-mass system. After the system identification, the H ∞ controller was designed for this system which has a pole at the origin of the complex plane. This one-degree-of-freedom control system had good feedback properties but large over shoot, so a two-degree-of freedom control system was introduced. This control system showed a good command response and feedback properties. This result is shown by simulation and experiments
Keywords :
DC motors; control system synthesis; digital simulation; electric machine analysis computing; feedback; identification; linear motors; machine control; optimal control; 2-mass system; H∞ controller; command response; feedback; linear DC motor; linear type actuator; one-degree-of-freedom control system; robust control; system identification; two-degree-of freedom control system; wire-driven system; Chemical industry; Control systems; DC motors; Feedback; Hydraulic actuators; Mechatronics; Pulleys; Robust control; Uncertainty; Wire;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339151
