Adaptive Position Control for Two-Mass Drives with Nonlinear Flexible Joints

Marcin Jastrzębski, Jacek Kabziński and Przemysław Mosiołek ()
Additional contact information
Marcin Jastrzębski: Institute of Automatic Control, Lodz University of Technology, 90-537 Łódź, Poland
Jacek Kabziński: Institute of Automatic Control, Lodz University of Technology, 90-537 Łódź, Poland
Przemysław Mosiołek: Institute of Automatic Control, Lodz University of Technology, 90-537 Łódź, Poland

Energies, 2024, vol. 17, issue 2, 1-28

Abstract: We consider a two-mass drive with a flexible joint with a nonlinear characteristic of the transmitted torque as a function of the torsion angle. We propose a new, nonlinear, adaptive position-tracking controller, taking this nonlinearity of stiffness into account. The derivation of the controller is based on nonlinear adaptive control theory, incorporates several non-standard mathematical techniques and provides a proof of the uniform ultimate boundedness of tracking errors. As the result, we present a controller that solves the position tracking problem, attenuates dangerous tortional oscillations in the shaft and operates correctly in the presence of unknown torques acting on both sides of the joint, even if all plant parameters are unknown. We demonstrate experimentally that using some materials indeed introduces a nonlinear characteristic of the joint. We prove via real plant experiments that the proposed control algorithm is easily implementable with a DSP controller in real-world applications.

Keywords: two-mass drive; flexible joint; nonlinear adaptive 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: 2024
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/17/2/425/pdf (application/pdf)
https://www.mdpi.com/1996-1073/17/2/425/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:17:y:2024:i:2:p:425-:d:1319747

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().