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Artykuł przedstawia algorytm sterowania tolerującego uszkodzenia dla trójfazowego przekształtnika energoelektronicznego zasilającego silnik synchroniczny o magnesach trwałych. Zaprezentowano rekonfigurację topologii przekształtnika po wykryciu uszkodzenia w jednej z gałęzi oraz zaproponowany został zmodyfikowany algorytm modulacji wektora przestrzennego. Wyniki badań symulacyjnych i eksperymentalnych...
This paper describes fuzzy cooperative coevolution adaptive control which uses a common genetic algorithm to obtain the coefficients of the adaptive fuzzy regulator. The plant under consideration is multi-mass drive system with elastic couplings. A comparison between systems with fuzzy control and conventional PID-control is considered. It is shown that fuzzy method allows to suppress torsional vibrations...
Torque pulsation in permanent magnet synchronous motor impairs their performance in critical applications, particularly for direct-drive. A practical approach to compensation of selected torque harmonics is presented. The approach consists of two steps: identification of dominant torque harmonics (the cogging harmonics and the flux linkage harmonics) and cuckoo search algorithm to tune the compensation...
This paper is dedicated to the motion control system of a multimass mechanism with occurring resonances and variable moment of inertia. The proposed concept of control structure for such mechanism consists of a filter damping higher resonance frequencies and an adaptive speed controller. The filter has properly selected fixed characteristics giving a compromised filtering effect in a range of resonance...
Input shaping is one of the most common methods of preventing oscillations in electromechanical systems. The tuning of input shaping may be problematic in black boxes, systems with nonlinearities, and more complicated plants. The autotuning algorithms using bioinspired methods are capable to solve those problems. The main idea of its usage is presented in the paper. The comparison with analytical...
The main objectives of this study was to compare selected methods of speed calculation based on measurement of angular position. Four methods was selected: low pass filter, smooth derivative, alpha-beta-gamma filter and moving average. dynamic and static properties of presented methods were compared through simulation studies. The results can be helpful in choosing method for estimation the speed...
This paper presents an algorithm of fuzzy adaptive PID controller and addresses its application in vibration suppression of a two mass rotating system. In a performance comparison between the proposed controller strategy and a classical PID control scheme extensive simulations confirmed the superiority of the proposed fuzzy adaptive controller. The results show that accurate tracking performance of...
Many mechanical systems are characterized by flexible joints. These kinds of systems are often exposed for mechanical oscillations. These objects are represented by cranes, long manipulator's arms or conveyors drives. All these objects can be approximated by multi-mass systems. To avoid the oscillations the input shaper method can be used. The main control strategies are usually based on PID controllers...
The paper reviews the literature in the field of electric drives control, published in the years 2010 – 2012. Attention is focused on three selected themes: torque and force ripple elimination for converter controlled drives, friction identification and compensation, damping of torsional vibrations. These problems are critically important, especially for servo drives used in robots and machine tools.
In this paper several digital filters are considered to handle resonance modes in direct drive servo-mechanical systems. Comparisons are made between the Chebyshev low pass filter, notch filter and bi-quad filter. The effectiveness of the presented methods is verified by simulation and in the laboratory.
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