Saw torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems

T. M. O'Sullivan, N. Schofield, C. M. Bingham

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins.

Original languageEnglish
Title of host publication2004 IEEE 35th Annual Power Electronics Specialists Conference, PESC04
PublisherIEEE
Pages4578-4584
Number of pages7
Volume6
ISBN (Print)0780383990
DOIs
Publication statusPublished - 15 Nov 2004
Externally publishedYes
Event2004 IEEE 35th Annual Power Electronics Specialists Conference - Aachen, Germany
Duration: 20 Jun 200425 Jun 2004
Conference number: 35

Publication series

NamePESC Record - IEEE Annual Power Electronics Specialists Conference
Volume6
ISSN (Print)0275-9306

Conference

Conference2004 IEEE 35th Annual Power Electronics Specialists Conference
Abbreviated titlePESC04
CountryGermany
CityAachen
Period20/06/0425/06/04

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