Abstract
This paper is concerned with control-based damping of friction-induced self-excited oscillations that appear in electromechanical systems with an elastic shaft. This approach does not demand additional oscillations measurements or an observer design. The control system provides the angular velocity and damping control via the combination of a parallel feed-forward compensator (PFC) and adaptive λ-tracking feedback control. The PFC is designed to stabilize the zero dynamics of an augmented system and renders it almost strict positive real (ASPR). The proposed control approach is tested in simulations.
Highlights
A number of friction effects appear in different machines and mechanisms driven by automated electric drive systems
The presented parallel feed-forward compensator (PFC)-based adaptive λ-tracking control is evaluated in a simulation study
From a theoretical point of view, this means that the designed PFC provides stability of the zero dynamics even for these worst case variations and, the overall control system is robust to these parameter variations
Summary
A number of friction effects appear in different machines and mechanisms driven by automated electric drive systems. By operation in these regions, friction-induced stick-slip or self-excited oscillations may appear. A new approach for damping the friction-induced self-excited oscillations is proposed. This approach does not require an additional measurement system on the working element side and can be integrated in classical motion control systems without their full redesign. In this contribution, a prototypic rotatory two-mass electromechanical system with an elastic shaft, as illustrated, is considered [12,26]. The prime and dotsymbols denote the spatial and time derivatives, respectively In this contribution, friction load curves possessing a negative slope region are of particular interest as they may cause instability and the occurrence of limit cycles.
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