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Application of D-Decomposition Technique to Selection of Controller Parameters for a Two-Mass Drive System

Author

Listed:
  • Radosław Nalepa

    (Department of Electrical Power Engineering, Wroclaw University of Science and Technology, PL50370 Wrocław, Poland)

  • Karol Najdek

    (Department of Electrical Power Engineering, Wroclaw University of Science and Technology, PL50370 Wrocław, Poland)

  • Karol Wróbel

    (Department of Electrical Machines, Drives and Measurements, Wroclaw University of Science and Technology, PL50370 Wrocław, Poland)

  • Krzysztof Szabat

    (Department of Electrical Machines, Drives and Measurements, Wroclaw University of Science and Technology, PL50370 Wrocław, Poland)

Abstract

In this work, issues related to the application of the D-decomposition technique to selection of the controller parameters for a drive system with flexibility are presented. In the introduction the commonly used control structures dedicated to two-mass drive systems are described. Then the mathematical model as well as control structure are introduced. The considered structure has only basic feedbacks from the motor speed and PI type controller. Due to the order of the closed-loop system, the free location of the system’s poles is not possible. Large oscillations can be expected in responses of the plant. In order to improve the characteristics of the drive, the tuning methodology based on the D-decomposition technique is proposed. The initial working point is selected using an analytical formula. Then the value of controller proportional gain is decreasing, until the required value of overshoot is obtained. In the paper different advantages of the D-decomposition technique are presented, for instance calculation of global stability area for the selected gain and phase margin, the impact of parameter changes, and additional delay evident in the system. Theoretical considerations are confirmed by simulation and experimental results.

Suggested Citation

  • Radosław Nalepa & Karol Najdek & Karol Wróbel & Krzysztof Szabat, 2020. "Application of D-Decomposition Technique to Selection of Controller Parameters for a Two-Mass Drive System," Energies, MDPI, vol. 13(24), pages 1-21, December.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:24:p:6614-:d:462400
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    References listed on IDEAS

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    1. Dung Tran Anh & Thang Nguyen Trong, 2018. "Adaptive Controller of the Major Functions for Controlling a Drive System with Elastic Couplings," Energies, MDPI, vol. 11(3), pages 1-11, March.
    2. Krzysztof Szabat & Karol Wróbel & Krzysztof Dróżdż & Dariusz Janiszewski & Tomasz Pajchrowski & Adrian Wójcik, 2020. "A Fuzzy Unscented Kalman Filter in the Adaptive Control System of a Drive System with a Flexible Joint," Energies, MDPI, vol. 13(8), pages 1-18, April.
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    Cited by:

    1. Piotr Derugo & Krzysztof Szabat & Tomasz Pajchrowski & Krzysztof Zawirski, 2022. "Fuzzy Adaptive Type II Controller for Two-Mass System," Energies, MDPI, vol. 15(2), pages 1-24, January.
    2. Dominik Łuczak, 2021. "Nonlinear Identification with Constraints in Frequency Domain of Electric Direct Drive with Multi-Resonant Mechanical Part," Energies, MDPI, vol. 14(21), pages 1-12, November.
    3. Krzysztof Szabat & Tomasz Pajchrowski & Tomasz Tarczewski, 2021. "Modern Electrical Drives: Trends, Problems, and Challenges," Energies, MDPI, vol. 15(1), pages 1-4, December.

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