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首页> 外文会议>Mediterranean Conference on Control and Automation >Robust output feedback control of non-collocated low-damped oscillating load
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Robust output feedback control of non-collocated low-damped oscillating load

机译：鲁棒输出反馈控制非搭配低阻振荡负载

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摘要

For systems with order of dynamics higher than two and oscillating loads with low damping, a non-collocation of the sensing and control can deteriorate robustness of the feedback and, in worst case, even bring it to instability. Furthermore, for a contactless sensing of the oscillating mechanical load, like in the system under investigation, the control structure is often restricted to the single proportional feedback only. This paper proposes a novel robust feedback control scheme for a low-damped fourth-order system using solely the measured load displacement. For reference tracking, the loop shaping design relies on a band reject filter, while the plant uncertainties are used as robustness measure for determining the feedback gain. Since prime uncertainties are due to the stiffness of elastic link, correspondingly connecting spring, and due to the gain of actuator transducer, the loop sensitivity function with additive plant variation is used for robustness measure. In order to deal with unknown disturbances, which are inherently exciting the load oscillations independently of the loop shaping performance, an output delay-based compensator is proposed as a second control-degree-of-freedom. That one requires an estimate of the load oscillation frequency only and does not affect the shaped open-loop behavior, correspondingly sensitivity function. An extensive numerical setup of the modeled system, a two-mass oscillator with contactless sensing of the load under gravity and low damping of the connecting spring, is used for the control evaluation and assessment of its robustness.
机译：对于具有高于两个和低阻尼负载的动态顺序的系统，感测和控制的非搭配可以恶化反馈的鲁棒性，并且在最坏的情况下，甚至将其带到不稳定性。此外，对于振荡机械负载的非接触式感测，如在正在进行的系统中，控制结构通常仅限于单个比例反馈。本文提出了一种用于低阻尼四阶系统的新颖的鲁棒反馈控制方案，其仅使用测量的负载位移。为了参考跟踪，环形整形设计依赖于带抑制滤波器，而工厂的不确定性用作确定反馈增益的鲁棒性度量。由于主要的不确定因素是由于弹性连杆的刚度，相应地连接弹簧，并且由于致动器换能器的增益，具有添加剂植物变化的环敏感功能用于鲁棒性测量。为了处理本质上是独立于环形成形性能的固有激励负载振荡的未知干扰，提出了一种基于输出延迟的补偿器作为第二控制自由度。该人需要仅估计负载振荡频率，并且不影响成形的开环行为，相应的灵敏度函数。建模系统的广泛数值设置，一个双质量振荡器，其在重力和连接弹簧的低阻尼下的负载不接触的负载感测，用于控制评估和评估其鲁棒性。

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