Adaptive eccentricity compensation

Author

De Wit, Carlos Canudas ; Praly, Laurent

Author_Institution

Lab. d´´Autom. de Genoble, ENSIEG-INPG, St. Martin d´´Heres, France

Volume

8

Issue

5

fYear

2000

fDate

9/1/2000 12:00:00 AM

Firstpage

757

Lastpage

766

Abstract

The paper is devoted to the problem of rejecting oscillatory position-dependent disturbances with unknown frequency and unknown amplitude. The considered disturbances are assumed to be produced by eccentricity in mechanical systems and drives. Most of the previous works on eccentricity cancellation assume a time-depending oscillation, we instead assume that the oscillatory disturbance is position-dependent. This leads us to formulate and to globally solve the adaptive cancellation problem using a velocity-dependent internal model of the eccentricity. The proposed control design results in an asymptotically globally stable adaptive eccentricity compensator (AEC). An apparatus with rolling eccentricity has been built to test the controller. The paper presents a series of experimental results showing the improvements of this controller. Also a comparative study with a simple proportional integral (PI) regulator is presented

Keywords

adaptive control; asymptotic stability; compensation; observers; position control; adaptive eccentricity compensation; asymptotically globally stable adaptive eccentricity compensator; eccentricity cancellation; mechanical drives; mechanical systems; oscillatory position-dependent disturbances; rolling eccentricity; simple proportional integral regulator; unknown amplitude; unknown frequency; velocity-dependent internal model; Adaptive algorithm; Adaptive control; Control design; Drives; Engines; Frequency; Friction; Mechanical systems; Programmable control; Stability;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.865849

Filename

865849