Original scientific paper

https://doi.org/10.7305/automatika.54-3.160

Forced Dynamics Control of the Elastic Joint Drive with Single Rotor Position Sensor

Ján Vittek orcid.org/0000-0002-8466-4925 ; Department of Power Electrical Systems, Faculty of Electrical Engineering, University of Zilina, Univezitna 1, Velky diel, 010 26 Zilina, Slovak Republic
Vladimir Vavrúš ; Department of Power Electrical Systems, Faculty of Electrical Engineering, University of Zilina, Univezitna 1, Velky diel, 010 26 Zilina, Slovak Republic
Peter Briš ; Department of Power Electrical Systems, Faculty of Electrical Engineering, University of Zilina, Univezitna 1, Velky diel, 010 26 Zilina, Slovak Republic
Lukáš Gorel ; Department of Power Electrical Systems, Faculty of Electrical Engineering, University of Zilina, Univezitna 1, Velky diel, 010 26 Zilina, Slovak Republic

Abstract

Position control system of moderate precision based on ‘forced dynamics control’ for the drive with significant vibration modes is described. To exploit the only position sensor on the motor side, all necessary control variables are estimated in observers based on motor position and stator current measurements. The designed controller is of a cascade structure, comprising an inner speed control loop, which respects vector control principles and an outer position control loop, which is designed to control load angle with prescribed dynamics in the presence of flexible modes. Simulations of the overall control system indicate that the proposed control system exhibits the desired robustness and therefore warrants further development and experimental investigation.

Keywords

Forced Dynamics Control; Observers; Position Control; Sensorless Control

Hrčak ID:

110176

URI

https://hrcak.srce.hr/110176

Publication date:

3.10.2013.

Article data in other languages: croatian

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