{"title":"Model of ADRC speed control system for complex mechanical object with backlash","authors":"Bartlomiej Wicher, Krzysztof Nowopolski","doi":"10.1109/MMAR.2017.8046857","DOIUrl":null,"url":null,"abstract":"The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF — FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2017.8046857","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
The article presents simulation research concerning speed control of two mass system with elastic joint and backlash utilizing the ADRC method. The model of the plant and the structure of the ADRC speed controller are presented together with mathematical formulas allowing to determine the observer and controller gains. Proper quality indicator of control process is defined and also sample scenario of reference speed and load torque are shown. Finally the simulation results with comparison to 2DOF — FID speed controller, which acts as a reference, are carried out. Conclusions and future plans are presented.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
