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High-performance control of dual-inertia servo-drive systems using low-cost integrated SAW torque transducers

By T M OSullivan, Chris Bingham and N Schofield

Abstract

Abstract—This paper provides a systematic comparative\ud study of compensation schemes for the coordinated motion\ud control of two-inertia mechanical systems. Specifically, classical proportional–integral (PI), proportional–integral–derivative (PID), and resonance ratio control (RRC) are considered, with an enhanced structure based on RRC, termed RRC+, being proposed. Motor-side and load-side dynamics for each control structure are identified, with the “integral of time multiplied by absolute\ud error” performance index being employed as a benchmark metric. PID and RRC control schemes are shown to be identical from a closed-loop perspective, albeit employing different feedback sensing mechanisms. A qualitative study of the practical effects of employing each methodology shows that RRC-type structures\ud provide preferred solutions if low-cost high-performance torque transducers can be employed, for instance, those based on surface acoustic wave tecnologies. Moreover, the extra degree of freedom afforded by both PID and RRC, as compared with the basic PI, is shown to be sufficient to simultaneously induce optimal closed-loop performance and independent selection of virtual inertia ratio. Furthermore, the proposed RRC+ scheme is subsequently\ud shown to additionally facilitate independent assignment\ud of closed-loop bandwidth. Summary attributes of the investigation are validated by both simulation studies and by realization of the methodologies for control of a custom-designed two-inertia system

Topics: H600 Electronic and Electrical Engineering
Publisher: IEEE Industrial Electronics Society
Year: 2006
DOI identifier: 10.1109/TIE.2006.878311
OAI identifier: oai:eprints.lincoln.ac.uk:2320

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