Inverse dynamics control method applied to the standard servo control system to suppress two-mass system vibration

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dc.contributor.authorLindr, David
dc.contributor.authorRydlo, Pavel
dc.contributor.authorMagnusek, Radek
dc.contributor.editorPihera, Josef
dc.contributor.editorSteiner, František
dc.date.accessioned2012-11-26T08:03:21Z
dc.date.available2012-11-26T08:03:21Z
dc.date.issued2012
dc.description.abstract-translatedThis paper describes a method for two-mass system torsional vibrations suppression. These vibrations are evoked due to torsion plasticity of mechanism kinematical chain links and large moment of inertia. This strategy belongs to the group of feedforward control techniques. By means of the knowledge about the system parameters and the two-mass system mathematical model it is easy to derivate its transfer function. The main idea of this method is to create the inverse transfer function of problematic second mass of the system and use it in the control structure as a feedforward controller. And in this way suppress the activity of system imaginary poles that cause the residual vibrations. This method was firstly tested on mathematical model simulations and then integrated into the cascade structure of standard servo control unit Siemens Sinamics S120. The results from experiments demonstrate the ability of this method to effectively compensate the torsional vibrations of the mechanism end-link.en
dc.format6 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationElectroscope. 2012, č. 2.cs
dc.identifier.issn1802-4564
dc.identifier.urihttp://147.228.94.30/images/PDF/Rocnik2012/Cislo2_2012/r5c4c4.pdf
dc.identifier.urihttp://hdl.handle.net/11025/688
dc.language.isoenen
dc.publisherZápadočeská univerzita v Plzni, Fakulta elektrotechnickács
dc.relation.ispartofseriesElectroscopecs
dc.rights© 2012 Electroscope. All rights reserved.en
dc.rights.accessopenAccessen
dc.subjectřízení servopohonůcs
dc.subjectdvouhmotové systémycs
dc.subjectpotlačení torzních vibracícs
dc.subjectmatematické modelovánícs
dc.subject.translatedservodrives controlen
dc.subject.translatedtwo-mass systemsen
dc.subject.translatedtorsional vibrations suppressionen
dc.subject.translatedmathematical modelsen
dc.titleInverse dynamics control method applied to the standard servo control system to suppress two-mass system vibrationen
dc.typečlánekcs
dc.typearticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

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Číslo 2 (2012)
Číslo 2 (2012)