PFC-Based Control of Friction-Induced Instabilities in Drive Systems
Abstract
:1. Introduction
2. Modeling
2.1. Mathematical Model
2.2. Model Discretization
3. Friction-Induced Self-Excited Oscillations
3.1. Stability and Zero Dynamics
3.2. Conventional Velocity Control
4. PFC-Based Control
4.1. Motivation
- is strictly the minimum phase, i.e., zeros of are in the LHP ;
- the relative degree of the system is 0 or 1.
4.2. PFC Design
4.3. Stability of the Augmented Plant
4.4. PFC-Based Adaptive Feedback Control
5. Results
- Scenario 1: adaptation, angular velocity reference tracking and disturbance rejection of the closed-loop system;
- Scenario 2: adaptation and angular velocity reference tracking of the closed-loop system in the presence of measurement noise;
- Scenario 3: adaptation and angular velocity reference tracking of the closed-loop system in the presence of parameters variation.
- is chosen as from the reference value rad/s;
- is chosen to provide a reasonable adaptation rate;
- ;
- s for the reference tracking ( s for the adaptation).
5.1. Scenario 1
5.2. Scenario 2
5.3. Scenario 3
- The static friction torque from (4) is varied in a range of ±50% from its nominal value resulting in a different slope of the friction curve in the operating point of interest;
- The moment of inertia of the second mass is varied in a range of ±50% from its nominal value.
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Abbreviations
PFC | Parallel feed-forward compensator |
ASPR | Almost strictly positive real |
PDE | Partial differential equation |
RHP | Right-half plane |
LHP | Left-half plane |
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Name | Symbol | Value | Unit |
---|---|---|---|
Density of the motor shaft | 8000 | [kg/m] | |
Shear modulus of the motor shaft | G | 79.3 | [N/m] |
Structural damping of the motor shaft | [Nms] | ||
Length of the motor shaft | L | 1500 | [m] |
Moment of inertia of the motor shaft | I | [m] | |
Moments of inertia of the first mass | 150 | [kg m] | |
Moments of inertia of the second mass | 1500 | [kg m] | |
Viscous friction on the first mass | 2000 | [Nms] | |
Coulomb friction torque | 165 | [Nm] | |
Viscous dissipation torque | 20 | [Nms] | |
Static friction torque | 515 | [Nm] | |
Stribeck parameter | [−] | ||
Slope in the region of zero velocity | [−] |
Cases | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
---|---|---|---|---|---|---|---|---|---|
9.27 | 8.22 | 10.46 | 9 | 12.25 | 9.92 | 9.80 | 8.68 | 11.15 | |
16.62 | 21.15 | 20.64 | 16.11 | 13.94 | 20.15 | 17.12 | 28.07 | 21.25 | |
8.97 | 4.32 | 15.08 | 5.53 | 2.04 | 12.01 | 12.96 | 9.48 | 18.52 |
Cases | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
---|---|---|---|---|---|---|---|---|---|
7.44 | 6.40 | 8.62 | 7.26 | 10.46 | 8.12 | 7.91 | 6.71 | 9.28 | |
15 | 19.26 | 23.03 | 14.90 | 14.18 | 18.51 | 15.22 | 26.26 | 34.05 | |
12.74 | 5.38 | 22.79 | 7.44 | 1.92 | 18 | 19.03 | 11.57 | 28.19 |
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Golovin, I.; Palis, S. PFC-Based Control of Friction-Induced Instabilities in Drive Systems. Machines 2021, 9, 134. https://doi.org/10.3390/machines9070134
Golovin I, Palis S. PFC-Based Control of Friction-Induced Instabilities in Drive Systems. Machines. 2021; 9(7):134. https://doi.org/10.3390/machines9070134
Chicago/Turabian StyleGolovin, Ievgen, and Stefan Palis. 2021. "PFC-Based Control of Friction-Induced Instabilities in Drive Systems" Machines 9, no. 7: 134. https://doi.org/10.3390/machines9070134
APA StyleGolovin, I., & Palis, S. (2021). PFC-Based Control of Friction-Induced Instabilities in Drive Systems. Machines, 9(7), 134. https://doi.org/10.3390/machines9070134