Control of electric drive by means of inverse dynamics

Mieczysław Zając

Abstrakt

This paper presents a method for positioning an electric drive with an elastic mechanical part by applying the inverse problem of dynamics. The presented assumptions take into account technological requirements and limitations of dynamic variables. The desired trajectory of the mechanical part of the electromechanical system has also been determined. On this basis, an algorithm for determining the control voltage waveform is proposed.

Słowa kluczowe: electromechanical systems, control, inverse dynamics
References

Dwivedy S.K., Eberhard P., Dynamic analysis of flexible manipulators, a literature review, Mechanism and Machine Theory, Vol. 41, Issue 7, July, 2006, 749-777.

Ider S.K., Inverse dynamics of parallel manipulators in the presence of drive singularities, Mechanism and Machine Theory, Vol. 40, Issue 2, January, 2005, 33-44.

Jarzębowska E., Model-Based Tracking Control of Nollinear Systems, CRC Series: Modern Mechanics & Mathematics, CRC Press, Taylor & Francis Group, 2012.

Galiullin A.S., Inverse Problems of Dynamics, Mir Publishers, Moscow 1984.

Zając M., Wybrane zagadnienia syntezy sterowania programowego układów elektromechanicznych, Rozwój zautomatyzowanych układów napędu elektrycznego, Komitet Elektrotechniki PAN, PWN, 1992, 129-139.

Zając M., New Metod of Mine Winder Control in Deep Shafts, Prace Instytutu Elektrotechniki, Vol. 151, 1988, 81-93.

Calanca A., Capisani L.A., Ferrara A. et al., An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulators, Robot Motion and Control, 2007, 137-146.

Barai R.K., Dey A., Sliding mode compensation of inverse dynamics velocity control, 12th Int. Workshop on Variable Structure Systems (VSS), 2012, 155-160.

Morales B., Carelli R., Robot control with inverse dynamics and non-linear gains, Latin American Applied Research, Vol. 33, No. 4, Oct./Dec. 2003, 393-397.

Kuo A.D., A Least-squares Estimation Approach to Improving the Precision of Inverse Dynamics Computations, Transactions of the ASME, Journal of Biomechanical Engineering, Vol. 120, Feb. 1999, 148-159.

Kato O., Sugiura I., An interpretation of airplane general motion and contol as inverse problem, Journal of Guidance, Control, and Dynamics, Vol. 9, No. 2, 1986, 198-204.

Venture G., Kojima T., Tagawa Y., Fast Motion Control of Robotics Systems Using Inverse Dynamics via ‘Simulation of Feedback Control Systems’ (IDCS), The 1’st Joint International Conference on Multibody System Dynamics, May 25–27, 2010, Lappeenranta, Finland.

Wach P., Dynamics and control of Electrical Drives, Springer-Verlag, 2011.

Крутько П.Д., Лакота H.А., Попов Е.П., Конструирование алгоритмов управления приводных систем по методу обратных задач динамики, Доклады Академии Наук СССР, Кибернетика и теория регулирования, 1982, 1086-1089.

Крутько П.Д., Обратные задачи динамики управляемых систем. Линейные модели, Наука 1987.