Authors:
Alexandra-Iulia Szedlak-Stinean
;
Radu-Emil Precup
and
Radu-Codrut David
Affiliation:
Department of Automation and Applied Informatics, Politehnica University of Timisoara, Bd. V. Parvan 2, 300223, Timisoara and Romania
Keyword(s):
State Observers, Electromechanical Plant, Experimental Results, Rigid Drive Dynamics, Flexible Drive Dynamics, Adjustable Moment of Inertia.
Related
Ontology
Subjects/Areas/Topics:
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Modeling
;
Systems Modeling and Simulation
Abstract:
The mechatronics systems with rigid and flexible drive dynamics are nonlinear and complex processes. This paper proposes a controller with a novel structure, which is composed of three subsystems: a subsystem that provides the desired output and from the reference input a feed-forward signal, an observer and a feedback derived from the estimated states. This structure has the advantage that the response to reference signals can be decoupled from the response to disturbances. This paper also proposes observers based on predictive feedback, characterized by fast convergence and small sensitivity of the estimation to parameter variations. Design approaches for the controller and state observers are offered. The experimental setup considered in this paper, namely the Model 220 Industrial Plant Emulator (MIPE220), illustrates how the use of several control structures can be made accessible, easily understandable and increasingly attractive. The proposed design approaches are tested and va
lidated in terms of conducting real-time experiments in terms of two experimental scenarios – step and staircase reference inputs – obtained for three specific values of the moment of inertia of the load disk.
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