Model based controller design and its fine tuning for mechanical resonant system using one-shot experimental data

Author

Matsui, Yusuke ; Ayano, Hideki ; Nakano, Kaoru

Author_Institution

Dept. of Electr. Eng., Tokyo Nat. Coll. of Technol., Tokyo, Japan

fYear

2013

fDate

15-17 May 2013

Firstpage

1

Lastpage

6

Abstract

This paper proposes a velocity controller tuning method for 3-mass system that is one of such mechanical resonant systems. The method requires only one-shot transient input/output (I/O) data of the 3-mass system under closed-loop operation to tune the controller. The data is used to estimate the frequency response of the system and to model the system in frequency domain. The closed-loop system that consists of the model of the 3-mass system and the model-based controller designed by the model is introduced as the reference model for the Fictitious Reference Tuning (FRIT) to compensate the modeling error. The usefulness of the method is shown by numerical examples of the controller tuning for the velocity control system of a 3-mass system.

Keywords

angular velocity control; closed loop systems; frequency response; frequency-domain analysis; machine control; tuning; 3-mass system; FRIT; I/O data; closed-loop operation; fictitious reference tuning; fine tuning; frequency domain; frequency response; mechanical resonant system; model based controller design; one-shot experimental data; one-shot transient input-output data; reference model; velocity controller tuning method; Closed loop systems; Data models; Frequency response; Load modeling; Numerical models; Torque; Tuning;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2013 10th International Conference on

Conference_Location

Krabi

Print_ISBN

978-1-4799-0546-1

Type

conf

DOI

10.1109/ECTICon.2013.6559539

Filename

6559539