Abstract
In this work, issues related to the application of the D-decomposition technique to selection of the controller parameters for a drive system with flexibility are presented. In the introduction the commonly used control structures dedicated to two-mass drive systems are described. Then the mathematical model as well as control structure are introduced. The considered structure has only basic feedbacks from the motor speed and PI type controller. Due to the order of the closed-loop system, the free location of the system’s poles is not possible. Large oscillations can be expected in responses of the plant. In order to improve the characteristics of the drive, the tuning methodology based on the D-decomposition technique is proposed. The initial working point is selected using an analytical formula. Then the value of controller proportional gain is decreasing, until the required value of overshoot is obtained. In the paper different advantages of the D-decomposition technique are presented, for instance calculation of global stability area for the selected gain and phase margin, the impact of parameter changes, and additional delay evident in the system. Theoretical considerations are confirmed by simulation and experimental results.
Highlights
At present, high precision control is required in most modern industrial processes [1,2,3,4,5].Industrial automation is mainly based on the electrical servo systems with different types of driving motors
By introducing additional Gain Margin (GM), and Phase Margin (PM), criteria an internal boundary must be found within the asymptotic stability region
According the to the description included in the section, the proposed methodology allows to determinate controller parameters taking intoprevious account section, the proposed methodology allows to determinate the controller parameters taking different factors, such as gain margin, phase margin, additional delay
Summary
High precision control is required in most modern industrial processes [1,2,3,4,5]. In order to increase the performance of the closed loop control structure different methods of selecting controller parameters have been proposed in the literature. With the help of specify formulas new coefficient are calculated and its value updated in the control structure The application of this concept allows to keep the location of the system closed-loop poles in a desired position. In this paper the issues related to the D-decomposition technique to selection of the controller parameters of the industrial drive with elasticity are presented. The D-decomposition provides regions in which the specified conditions are fulfilled This algorithm can be used to analyse the effect of changes of parameters on the closed-loop stability. The application of poles-placement methodologies to the parameters is discussed Different design factors, such as: phase margin, gain margin, delay times, selection of controller is shown.
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