Title :
Vibration suppression in elastic drive systems using the immersion and invariance methodology
Author :
Khan, Irfan Ullah ; Dhaouadi, Rached
Author_Institution :
Mechatron. Eng. Grad. Program, American Univ. of Sharjah, Sharjah, United Arab Emirates
Abstract :
This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and Invariance approach. First, appropriate mapping functions are derived to convert the total nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This reduced order system is used as a target system to design a position controller, which is based on the standard PI type control technique. Next through immersion and invariance, the reduced order controller is applied to the nonlinear 2MM system to suppress the torsional vibrations and yield an over-damped response similar to the target system. The control law derivation and stability analysis of the target system are described and discussed. Simulation and experiments using a 2MM drive system are used to validate the proposed control methodology.
Keywords :
PI control; control system synthesis; drives; elasticity; motion control; nonlinear control systems; position control; reduced order systems; robust control; vibration control; PI type control technique; control law derivation; elastic drive systems; flexible drive systems; high-performance motion control system; immersion methodology; invariance methodology; mapping functions; nonlinear two-mass-model system; over-damped response; position controller design; reduced order system; rigid dynamics; robust control methodology; stability analysis; torsional vibration suppression; total nonlinear 2MM system; Joints; Robustness; Servomechanisms; Vibrations; immersion and invariance; invariant manifold; stabilization; torsional vibrations; two mass model;
Conference_Titel :
Electric Power and Energy Conversion Systems (EPECS), 2013 3rd International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4799-0687-1
DOI :
10.1109/EPECS.2013.6712999