In this paper, we focus on the problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and a gear-pair. We consider two inertias (motor and load) system connected by a compliant transmission. Because of the transmission dynamics, regulation of motor shaft speed may not translate to regulation of load speed. Further, determination of whether to use of motor speed or load speed feedback or a combination of both that would facilitate control of load speed is of importance. In this paper we investigate both the motor and load speed feedback options by considering transmission compliance and utilizing the singular perturbation method. We propose a two degree of freedom control system that utilizes both motor and load speed feedback and an adaptive feedforward scheme to reject torque disturbances on the load. Experiments conducted on a typical industrial transmission system that is commonly employed in roll-to-roll manufacturing are discussed,. A representation sample of the experimental results are presented and discussed.
- Dynamic Systems and Control Division
Speed Control of an Inertia Load Connected to a Motor Through a Compliant Mechanical Transmission System
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Raul, PR, Dwivedula, RV, & Pagilla, PR. "Speed Control of an Inertia Load Connected to a Motor Through a Compliant Mechanical Transmission System." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T40A003. ASME. https://doi.org/10.1115/DSCC2015-9798
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