Proceedings ArticleDOI
Suppression of limit cycle and improvement of robust performance in two-mass resonant systems with nonlinearity
Satoshi Komada,K. Iyama,Kazuhiro Yubai,T. Hori +3 more
- Vol. 3, pp 1704-1709
TLDR
In this paper, a systematic parameter design method for two-inertia two-mass systems is proposed, where a load variation, Coulomb friction, and fast and precise control are considered.Abstract:
Two-mass systems are shown as a model of two masses connected by a spring and often seen in mechanical systems. PID control, resonance ratio control, H/sup /spl infin// control, and etc. have been applied to the two-mass systems. Conventional controllers that use a disturbance observer for two-inertia systems are adopted. A systematic parameter design method for the systems is proposed, where a load variation, Coulomb friction, and fast and precise control are considered. For limit cycle due to friction, a suppression condition of limit cycle is derived by an analysis using a describing function method. For load variation, robust stability for time varying system with structured uncertainty is guaranteed by the quadratic stability. Moreover, nominal performance is improved by maximizing the smallest eigen value of control system under the above restrictions. Effectiveness is confirmed by some simulations and experiments.read more
Citations
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Journal ArticleDOI
Vibration Suppression in a Two-Mass Drive System Using PI Speed Controller and Additional Feedbacks—Comparative Study
TL;DR: It is shown that all systems with one additional feedback can be divided into three different groups, according to their dynamical characteristics, and the system with two additional feedbacks is investigated.
Proceedings Article
Speed control of torsional drive systems with backlash
S. Thomsen,Friedrich W. Fuchs +1 more
TL;DR: In this article, the authors compared PI-control to two state space controllers for speed control of drive systems with elastically coupled loads, and the effects of backlash in the drive are analyzed in each control.
Proceedings ArticleDOI
Limit cycles due to friction forces in flexible joint mechanisms
Soo Jeon,Masayoshi Tomizuka +1 more
TL;DR: In this paper, the authors investigated the limit cycle phenomena in flexible joint mechanisms due to motor side Coulomb friction and load side friction with more emphasis on the latter with simulation and experimental results.
Journal ArticleDOI
Stability of Controlled Mechanical Systems With Ideal Coulomb Friction
Soo Jeon,Masayoshi Tomizuka +1 more
TL;DR: In this paper, the stability analysis of controlled mechanical systems with multiple ideal Coulomb friction sources is presented and a new sufficient condition for the pointwise global stability is suggested, which can be used for the design of mechanical systems free from the limit cycle.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Robust stabilization of uncertain linear systems: quadratic stabilizability and H/sup infinity / control theory
TL;DR: In this paper, the problem of robustly stabilizing a linear uncertain system is considered with emphasis on the interplay between the time-domain results on the quadratic stabilization of uncertain systems and the frequency domain results on H/sup infinity / optimization.
Journal ArticleDOI
Slow resonance ratio control for vibration suppression and disturbance rejection in torsional system
TL;DR: The authors give the optimal speed of the disturbance observer and propose a novel technique named "slow resonance ratio control", which enables us to design the speed control and the vibration suppression control almost completely independently.
Proceedings ArticleDOI
Vibration control of 2 mass resonant system by resonance ratio control
TL;DR: In this paper, a position control method to suppress torsional vibrations of two mass resonant systems without using position sensor on the arm portion is presented, which is based on both the conventional PD control and the resonance ratio control, and the controller gain determination method is discussed.
Journal ArticleDOI
Stability analysis of systems with multiple nonlinearities
TL;DR: In this paper, a method for using describing functions in a control system with multiple nonlinearities is presented, where the linear system resulting after the proper describing functions have been inserted is analyzed using an "input dependent root locus" which is a modified root-locus technique.
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