Title :
Experimental study of virtual disturbance loop-shaping method for angular velocity control of a belt-drive system
Author :
Sugitani, Yosuke ; Saeki, Masami
Author_Institution :
Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima, Japan
Abstract :
In our previous study, we have proposed a design method of a static feedback gain for a nonparametric model described by a plant response data. The magnitudes of the sensitivity and complementary sensitivity functions are shaped. An appropriate gain can be obtained by solving a linear matrix inequality. In this paper, the usefulness is shown by applying the method to an experimental setup where a load disc is driven by a DC motor with belts. PI controller, state feedback gain, and the numerator coefficient of the observer-based controller are tuned successfully for velocity control.
Keywords :
DC motor drives; PI control; angular velocity control; belts; control system synthesis; feedback; linear matrix inequalities; machine control; observers; DC motor; PI controller; angular velocity control; belt-drive system; complementary sensitivity function; experimental study; linear matrix inequality; load disc; nonparametric model; numerator coefficient; observer-based controller tuning; plant response data; static feedback gain design; virtual disturbance loop-shaping method; Angular velocity control; Data engineering; Design methodology; Feedback loop; Linear matrix inequalities; Mechanical systems; Performance gain; State feedback; Three-term control; Velocity control; controller design; data driven design; linear matrix inequality; robust control;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
