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An algebraic approach for the motion control of the two-mass system

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Date
2020-10-18
Author
Bartík, Ondřej
Altmetrics
10.1109/IECON43393.2020.9255203
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Abstract
In this paper, an algebraic based approach for motion control of a two-mass system is presented. Algebraic menas, that the structure of the presented controller is found as the solution of the polynomial equation. The design approach is separated into two parts - velocity and position control design. Where for the velocity control the Model Reference Control schema with biquadratic filter is used. For the position control, a simple proportional controller is used. Described control schema also utilized an Anti-Windup mechanism together with controller output limitation to ensure torque (current) limit control. Firstly, the used model and method are described, then their application in the sense of the control design is described. Lastly, experimental results are presented and discussed.
Keywords
Two-mass, Model Reference Control, algebraic, control, motion control
Persistent identifier
http://hdl.handle.net/11012/196327
Document type
Peer reviewed
Document version
Postprint
Source
USB Proceedings IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society. 2020, p. 100-105.
https://ieeexplore.ieee.org/document/9255203
DOI
10.1109/IECON43393.2020.9255203
Collections
  • Ústav automatizace a měřicí techniky [42]
  • Kybernetika pro materiálové vědy [50]
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