Title :
Adaptive Fuzzy Sliding Mode Control of a Drive System with Flexible Joint
Author :
Kowalska, Teresa Orlowska ; Szabat, Krzysztof
Author_Institution :
Wroclaw Univ. of Technol.
Abstract :
In the paper a robust control system with the fuzzy-neuro sliding mode controller was proposed. A model reference adaptive control structure was applied to a drive system with flexible connection between the motor and the load machine. The torsional vibrations were successfully suppressed in the control structure with only one basic feedback from the motor speed. The damping ability of the system was confirmed for the wide range of the system parameters and different types of the reference signals. The proposed control structure was investigated under simulation and experimental tests
Keywords :
damping; fuzzy control; machine control; model reference adaptive control systems; motor drives; neurocontrollers; robust control; variable structure systems; vibrations; adaptive fuzzy sliding mode control; damping ability; drive system; flexible joint; fuzzy-neuro sliding mode controller; load machine; model reference adaptive control structure; motor; robust control system; torsional vibrations; Adaptive control; Control systems; Damping; Feedback; Fuzzy control; Fuzzy systems; Programmable control; Robust control; Sliding mode control; Vibration control;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347969
