Integrated, Multi-Approach, Adaptive Control of Two-Mass Drive with Nonlinear Damping and Stiffness

Jacek Kabziński and Przemysław Mosiołek
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Jacek Kabziński: Institute of Automatic Control, Lodz University of Technology, 90-924 Lodz, Poland
Przemysław Mosiołek: Institute of Automatic Control, Lodz University of Technology, 90-924 Lodz, Poland

Energies, 2021, vol. 14, issue 17, 1-23

Abstract: In numerous electric drive applications, the mechanical phenomena in the velocity or position control loop determine real difficulties and challenges for the control system. So-called two-mass drive systems with a flexible shaft are the most important example of this situation. The problem becomes even more difficult if the characteristics of torque transmission along the shaft are nonlinear, nonlinear friction is present, and the plant parameters are unknown, as it happens in numerous robotic systems. A novel adaptive controller is derived for such a system. The recurrent design procedure is based on proper modifications of the adaptive backstepping scheme, including non-strict-feedback plant application, tuning functions to exclude controller overparameterization, robust adaptive laws, proper means to avoid controller complexity explosion, and a nonlinear PI controller in the initial loop to minimize quasi-steady-state tracking error. The closed-loop system uniform ultimate boundedness is proven using Lyapunov techniques and the design and tuning procedures are described. The attractive features of the obtained drive, including the robustness against the violation of assumptions, are presented using several examples.

Keywords: electric drive; two-mass system; adaptive control; nonlinear control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
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