Concise Modeling Method Mechanical Rotation System and Its Nonlinear Robust Control

Abstract

In order to improve the efficiency of modeling and performance of control, the mathematical model of a mechanical rotation system is built taking advantages of bond graph approach and circuit network method. A bond graph for a mechanical rotation system is drawn using bond graph approach, and then transformed into equivalent circuit diagram, finally the mathematical model in format of transfer function was directly written according to the circuit network method. There also some energy equations were deduced from bond graph and the possible energy transforming modes were discussed. The robust controller to the built model was designed based on the power function feedback and closed loop gain shaping algorithm. The simulation results show that the controller has satisfactory robustness and the methods of modeling and the designed controller are effective with obvious energy-saving performance.