Modelling, identification and control od periodic disturbances in drive load angular velocity servo control sytsems with self-excited oscillations

Abstract

In this work, the control system problems, the set point tracking and the periodic disturbance rejection, are considered in general and in particular for an angular velocity servo control drive-load system. The sources of the periodic disturbances are that either the drive side, the load side or both of them have angle dependent parameters, this could take place because of the working principle of the drive as in internal combustion engines, electrical (induction or permanent magnet synchronous) motors, etc., as well as in the load side e.g. eccentricity as in crankshaft or camshaft mechanisms. These types of periodic disturbances are also called self-excited periodic disturbances generated by state dependent (periodic) parameters and have been classified and modeled in this work as internal periodic disturbances. On the other hand, periodic disturbances that do not depend on any of the system states or parameters are classified and modeled as external periodic disturbances. Therefore, for analysis and design objectives, a mathematical model has been built for a rigid and flexible drive-load system with angle dependent spring, damper and moment of inertia load elements plus an external periodic disturbance source. This has led to build an identification model representing the drive-load system that consists of input to output dynamic part plus an internal and external input periodic disturbance part. Thus, an identification algorithm is used to identify this identification model. Then, by using the identified periodic disturbance parameters of the identification model, a feed-forward controller has been designed to compensate the drive-load system periodic disturbances as an add-on to an already existing set point tracking feedback controller. This algorithm has turned out to be an indirect adaptive feed-forward periodic disturbance controller. The algorithm has been tested in simulation as well as in real-time control implementation intensively with very good results. Therefore as a next step, a test platform for a drive-load system has been built up, where the load side has a crankshaft mechanism that generates state (angle) dependent oscillations. And finally, the algorithm has been implemented in a real-time controller and successfully applied on the test platform to model, identify and consequently to compensate the periodic disturbances.%%%%In dieser Arbeit wurden die Regelungssystemprobleme, die Sollwertverfolgung und die Abstosung der periodischen Storung, im Allgemeinen und insbesondere fur ein Drehzahlservoregelungsantrieb- abtriebssystem betrachtet. Die Quellen der periodischen Storungen sind, dass entweder der Antriebsseite, der Abtriebsseite oder beide Winkel abhangigen Parameter haben. Dies konnte wegen der Arbeitsweise des Antriebs zum Beispiel in Verbrennungsmotoren, Elektro (Induktions- oder Permanentmagnet-Synchron) Motoren, usw., sowie in der Abtriebsseite zum Beispiel Exzentrizitat wie in Kurbel- oder Nockenwelle Mechanismen stattfinden. Diese Arten von…