Position prediction and delay compensation on leveling systems

This paper considers the accuracy problem of position prediction in high precision leveling systems by using the large inertia motor. Based on the recursive least squares method(RLSM), a stopping curve estimate approach is proposed. By using the curve estimate approach, we put the resistance torque of the load, the friction torque, the wind resistance torque, and the rotational inertia of the motor into the stopping curve to avoid the measuring of all kinds of resisting torque and the rotational inertia and reduce the complexity of the control system. The time delay of system scheduling is also considered. The speed of the motor is pre-estimated by using Taylor series expansion to compensate the time delay to ensure the accuracy of the control. The actual application and MATLAB simulation show the stopping curve estimate approach can reduce the leveling time and ensure high leveling accuracy.