Robust control of linear DC motor with flexibility

Author

Ikeda, Makoto ; Hashimoto, Hideki

Author_Institution

Asahi Chem. Ind. Co. Ltd., Shizuoka, Japan

fYear

1993

fDate

15-19 Nov 1993

Firstpage

924

Abstract

The authors have developed a wire-driven system with a linear type actuator. A wire-driven system is difficult to use because of its unknown dynamics and uncertainties. In this study, a wire-driven system was modeled as a 2-mass system. After the system identification, the H _∞ controller was designed for this system which has a pole at the origin of the complex plane. This one-degree-of-freedom control system had good feedback properties but large over shoot, so a two-degree-of freedom control system was introduced. This control system showed a good command response and feedback properties. This result is shown by simulation and experiments

Keywords

DC motors; control system synthesis; digital simulation; electric machine analysis computing; feedback; identification; linear motors; machine control; optimal control; 2-mass system; H_∞ controller; command response; feedback; linear DC motor; linear type actuator; one-degree-of-freedom control system; robust control; system identification; two-degree-of freedom control system; wire-driven system; Chemical industry; Control systems; DC motors; Feedback; Hydraulic actuators; Mechatronics; Pulleys; Robust control; Uncertainty; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339151

Filename

339151