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Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions
P R Raul1, R V Dwivedula2, P R Pagilla3
1Mechanical & Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078, United States.
ISA Transactions
|April 30, 2016
Summary
This study explores controlling mechanical transmission systems with compliant components. Using both motor and load speed feedback improves system stability and performance, especially with adaptive control for disturbances.
Area of Science:
- Control Systems Engineering
- Mechanical Systems Dynamics
- Manufacturing Process Control
Background:
- Mechanical transmission systems with compliant elements (belts, shafts) exhibit complex dynamics.
- Rigid transmission models simplify control, but compliance significantly alters closed-loop system stability and performance.
- Distinguishing between motor and load speed feedback is crucial when transmission compliance is present.
Purpose of the Study:
- To investigate the impact of motor versus load speed feedback on compliant mechanical transmission systems.
- To develop and evaluate a control scheme combining motor and load speed feedback.
- To design an adaptive feedforward control for rejecting load torque disturbances in such systems.
Main Methods:
- Modeling of a two-inertia mechanical system with a compliant transmission.
- Application of the singular perturbation method for analyzing system stability.
- Implementation of combined motor and load speed feedback control.
- Design of an adaptive feedforward controller for disturbance rejection.
Main Results:
- Demonstration that motor and load speed feedback yield different stability and performance characteristics in compliant systems.
- Validation of a control scheme utilizing both motor and load speed feedback.
- Effective rejection of load torque disturbances using adaptive feedforward control.
- Experimental verification on a platform relevant to roll-to-roll manufacturing.
Conclusions:
- Control strategies must account for transmission compliance to ensure system stability and performance.
- A combined motor and load speed feedback approach offers superior control for compliant transmissions.
- Adaptive feedforward control is effective in mitigating the effects of load disturbances in these systems.
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