Abstract
The state feedback controller is increasingly applied in electrical drive systems due to robustness and good disturbance compensation, however its main drawback is related to complex and time consuming tuning process. It is particularly troublesome for designer, if the plant is compound, nonlinear elements are taken into account, measurement noise is considered, etc. In this paper the application of nature-inspired optimization algorithm to automatic tuning of state feedback speed controller (SFC) for two-mass system (TMS) is proposed. In order to obtain optimal coefficients of SFC, the Artificial Bee Colony algorithm (ABC) is used. The objective function is described and discussed in details. Comparison with analytical tuning method of SFC is also included. Additionally, the stability analysis for the control system, optimized using the ABC algorithm, is presented. Synthesis procedure of the controller is utilized in Matlab/Simulink from MathWorks. Next, obtained coefficients of the controller are examined on the laboratory stand, also with variable moment of inertia values, to indicate robustness of the controller with optimal coefficients.
Highlights
The electrical drive system with elastic joints occurs in many industrial machines like robot arms, conveyor belts, rolling-mill machines, and servo systems
The proposed auto-tuning method was implemented in Matlab/Simulink environment and the optimization last for 8 min using Acer laptop with i7-6700HQ supported by 8 GB RAM
It is worth to point out the obtained coefficients of SFC by ABC are noticeable smaller than the analytically calculated coefficients, while the dynamical properties and disturbance compensation are similar for both sets of coefficients. As it was shown in [23], it is related to application of linear-quadratic regulator optimization (LQR) in auto-tuning process, where control effort is taken into account during synthesis process of controller
Summary
The electrical drive system with elastic joints occurs in many industrial machines like robot arms, conveyor belts, rolling-mill machines, and servo systems. A long shaft between the motor and load machine in mechanical part of the system provides very low resonant frequency [1,2]. The motor speed differs to the load one, and speed oscillations may occur. Such behaviour of the machine can cause unsatisfactory product quality. Another problem with elastic joints is the coupling shaft stress, resulting in negative influence on a life-time of the machine mechanical part. The elasticity of the shaft should be taken into account during synthesis of the control structure
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