DocumentCode
3536911
Title
Funnel control with disturbance observer for two-mass systems
Author
Hackl, C.M.
Author_Institution
Inst. for Electr. Drive Syst. & Power Electron., Tech. Univ. Munchen (TUM), Garching, Germany
fYear
2013
fDate
10-13 Dec. 2013
Firstpage
6244
Lastpage
6249
Abstract
Funnel control in combination with a (simplified) disturbance observer is applied to speed control of elastic two-mass systems where solely motor side speed measurement is available for feedback. The disturbance observer increases damping of the closed-loop system and ensures that the tracking error vanishes asymptotically (i.e. `steady state accuracy´). Comparative measurements results illustrate improved damping and control performance compared to PI-funnel control (i.e. funnel control in combination with a PI controller).
Keywords
PI control; angular velocity control; angular velocity measurement; closed loop systems; damping; feedback; observers; time-varying systems; PI controller; closed-loop system; damping; disturbance observer; elastic two-mass systems; feedback; funnel control; motor side speed measurement; speed control; Accuracy; Actuators; Damping; Friction; Observers; Steady-state; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location
Firenze
ISSN
0743-1546
Print_ISBN
978-1-4673-5714-2
Type
conf
DOI
10.1109/CDC.2013.6760876
Filename
6760876
Link To Document