Regulacija elektromotornih pogona s elastičnim prijenosnim mehanizmom, trenjem i zračnošću
Regulirani elektromotorni pogoni trebaju zadovoljiti visoke zahtjeve na njihovo statičko i dinamičko vladanje. Nesavršenosti izvedbe prijenosnog mehanizma pogona ogledaju se, sa stanovišta upravljanja, u postojanju elastičnosti, trenja i zračnosti. Negativni utjecaji ovih učinaka na kvalitetu vladanja reguliranog pogona mogu se smanjiti proširenjem klasične kaskadne strukture regulacije pogona s prikladnim kompenzacijskim algoritmima.
Utjecaj elastičnosti prijenosnog mehanizma može se kompenzirati primjenom regulatora stanja umjesto tradicionalnog PI regulatora brzine vrtnje. Projektirani su i međusobno uspoređeni razni tipovi regulatora stanja. To su regulatori stanja punog i reduciranog reda, polinomski regulator po brzini vrtnje motora ili tereta, i regulator zasnovan na podređenom krugu akceleracije. Nadređeni regulator položaja je proporcionalnog tipa. Razmatrano je i projektiranje pretkompenzatora punog ili reduciranog reda za ugradnju u slijedne sustave.
Projektirani su i uspoređeni razni tipovi kompenzatora trenja. To su kompenzator trenja temeljen na Karnoppovom statičkom modelu trenja, kompenzator temeljen na Dahlovom dinamičkom modelu trenja, kompenzator s prepodešavanjem parametara linearnog regulatora i kompenzator temeljen na podređenom krugu regulacije akceleracije. Također je razmatran kompenzator zračnosti temeljen na neizrazitoj logici.
Razvijene upravljačke strategije provjerene su na eksperimentalnom postavu reguliranog elektromotornog pogona s mogućnošću nezavisnog podešenja momenta tereta, omjera inercija motora i tereta, krutosti prijenosnog mehanizma, trenja i zračnosti.
Publikacije
Automatika , Vol. 54, No. 3, pp. 364-375, 2013 Fundamentals of Electrical Drive Controls
UNESCO Encyclopedia of Life Support Systems, Chap. 6.39.21, 2012 Normal Force Control for a Pin-On-Disk Tribometer Including Active or Passive Suppression of Vertical Vibrations
Proceedings of 2012 IEEE Multi-Conference on Systems and Control (2012 IEEE MSC), pp. 488-493, Dubrovnik, Croatia, 2012 Modeling and Control of Electronic Throttle Drive: A practical approach - from experimental characterization to adaptive control and application
Lambert Academic Publishing, Saarbrücken, 2011 Fuzzy Model Predictive Control of Electrical drives with Transmission Elasticity and Backlash
Automatika, Vol. 43, No. 1-2, pp. 5-11, 2002 Friction Compensation Based on Reset-Integrator Friction Model
9th European Conference on Power Electronics and Applications (EPE), Graz, Austria, 2001 Speed Control of Electrical Drives with Elastic Transmission Utilizing State Estimators and Controllers
11th International Conference on Electrical Drives and Power Electronics (EDPE), Dubrovnik, Croatia, 2000 Laboratory Model of a Two-axis Positioning and Tracking Servosystem Carried Out by Utilization of an A.P.C. Turret
11th International Conference on Electrical Drives and Power Electronics (EDPE), Dubrovnik, Croatia, 2000 Gain scheduling-based friction compensation
2000 IEEE Industry Application Conference, pp. 1089-1096, Roma, Italy, 2000 Pointing and Tracking Position Control System for Electrical Drives with Elastic Transmission
9th International Conference and Exhibition on Power Electronics and Motion Control - EPE PEMC, Vol. 7, pp. 1-6, Košice, Slovak Republic, 2000 A Comparative Study of Servosystems with Acceleration Feedback
2000 IEEE Industry Application Conference, pp. 1533-1540, Roma, Italy, 2000 Analysis of Speed Control System for Electrical Drives with Elastic Transmission
IEEE International Symposium on Industrial Electronics (ISIE), Bled, Slovenia, 1999 Design of Polynomial Speed Controller for Electrical Drives with Elastic Transmission
8th European Conference on Power Electronics and Applications (EPE), Lausanne, Switzerland, 1999 Kompenzacija učinaka elastičnosti i trenja u prijenosnim mehanizmima slijednih sustava
Doktorska disertacija, Fakultet elektrotehnike i računarstva, Sveučilište u Zagrebu, Croatia, 1999 Control of Electrical Drives with Elastic Transmission, Friction and Backlash - Experimental System
Automatika, Vol. 40, No. 3-4, pp. 129-137, 1999 Design of Compact Experimental Servo Drive Model with Adjustable Torsion, Friction and Backlash Effects
9th International DAAAM Symposium, pp. 069-070, Cluj-Napoca, Romania, 1998 Optimization of Speed Control System for Electrical Drives with Elastic Coupling
IEEE International Conference on Control Applications, pp. 319-325, Trieste, Italy, 1998 Vector Control of Permanent-Magnet Synchronous Motor in Wide Speed Range
Automatika, Vol 36, No. 1-2, pp. 27-33, 1995