Title :
Load position tracking using a PM stepper motor with a flexible shaft: A δ-flat nonlinear delay system
Author :
Mounier, Hugues ; Rudolph, Joachim
Author_Institution :
Inst. d´Electron. Fondamentale, Univ. Paris Sud, Orsay, France
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
Tracking an angular position trajectory of a mass attached to the free end of a motor shaft with large torsional flexibility is considered. The dynamical model of this plant is an example of a nonlinear system which does not admit a retarded state representation, but only a so-called neutral one. It is a connection of a nonlinear system without delays, the PM stepper motor, and a linear delay system, the shaft with the mass. The tracking problem can be solved by exploiting the so-called i-flatness property of the system.
Keywords :
delay systems; nonlinear control systems; permanent magnet motors; shafts; stepping motors; tracking; trajectory control; δ-flat nonlinear delay system; PM stepper motor; angular position trajectory tracking; dynamical model; flexible shaft; i-flatness property; load position tracking; motor shaft; nonlinear system; torsional flexibility; tracking problem; DC motors; Delays; Mathematical model; Permanent magnet motors; Shafts; Torque; Trajectory; Delay systems; flatness; neutral state representation; nonlinear; trajectory tracking;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
