Adaptive control of the arm position in the electric drive with a non-linear elastic joint

被引：1

作者：

Jastrzebski, Marcin ^{[1
]}

Mosiolek, Przemyslaw ^{[1
]}

机构：

[1] Tech Univ Lodz, Inst Automatyki, Lodzka, Poland

来源：

PRZEGLAD ELEKTROTECHNICZNY | 2023年 / 99卷 / 04期

关键词：

elastic joint drive; backstepping; nonlinear control; adaptive control; STIFFNESS; SYSTEM;

D O I：

10.15199/48.2023.04.09

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The paper presents an algorithm of adaptive control of the arm position in the drive with a non-linear elastic joint. The backstepping method was used to design the control algorithm. The laws of adaptation proposed in the algorithm implement the self-tuning function of the control system, and allow to avoid a process of identification parameters of the drive system. The operation of the algorithm has been verified in a simulation and in a real system.

引用

页码：51 / 58

页数：8

共 50 条

[1] Drive control of an electric vehicle by a non-linear controller
Mubin, Marizan
Ouchi, Shigeto
Anabuki, Masatoshi
Hirata, Hiroshi
[J]. IEEJ Transactions on Industry Applications, 2006, 126 (03) : 300 - 308
[2] Positional Asynchronous Electric Drive with Vector Control and Non-linear Correction
Denisov, V
Tretyakova, M.
[J]. 2018 INTERNATIONAL CONFERENCE ON INDUSTRIAL ENGINEERING, APPLICATIONS AND MANUFACTURING (ICIEAM), 2018,
[3] Predictive position control of the drive system with elastic joint
Serkies, Piotr J.
Szabat, Krzysztof
[J]. PRZEGLAD ELEKTROTECHNICZNY, 2011, 87 (02): : 276 - 279
[4] Electric and elastic properties of linear and non-linear composites
Milton, GW
[J]. IUTAM SYMPOSIUM ON MECHANICAL AND ELECTROMAGNETIC WAVES IN STRUCTURED MEDIA, 2001, 91 : 3 - 14
[5] Adaptive fuzzy control of a non-linear servo-drive: Theory and experimental results
Bellomo, D.
Naso, D.
Babuska, R.
[J]. ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2008, 21 (06) : 846 - 857
[6] Vibrational control of a non-linear elastic panel
Chow, PL
Maestrello, L
[J]. INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2001, 36 (04) : 709 - 718
[7] Robust adaptive control of uncertain non-linear systems with non-linear parameterisation
Liu, Yusheng
[J]. INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2006, 1 (02) : 151 - 156
[8] Rotor Flux-MRAS based Speed Sensorless Non-Linear Adaptive Control of Induction Motor Drive for Electric Vehicles
Rind, Saqib Jamshed
Ren, Yaxing
Shi, Kai
Jiang, Lin
Tufail, Muhammad
[J]. 2015 50TH INTERNATIONAL UNIVERSITIES POWER ENGINEERING CONFERENCE (UPEC), 2015,
[9] Adaptive non-linear trajectory tracking control for lane change of autonomous four-wheel independently drive electric vehicles
Guo, Jinghua
Luo, Yugong
Li, Keqiang
[J]. IET INTELLIGENT TRANSPORT SYSTEMS, 2018, 12 (07) : 712 - 720
[10] Non-linear Control of a Robotic Arm for Pipeline Reparation
Orozco, J.
Bello, Y.
Patino, D.
Colorado, J.
Ruiz, F.
Solaque, L.
[J]. IEEE LATIN AMERICA TRANSACTIONS, 2016, 14 (12) : 4681 - 4687

← 1 2 3 4 5 →