Linear active disturbance rejection control with torque compensation for electric load simulator
- PDF / 3,358,936 Bytes
- 9 Pages / 595.276 x 790.866 pts Page_size
- 83 Downloads / 230 Views
ORIGINAL ARTICLE
Linear active disturbance rejection control with torque compensation for electric load simulator Haitao Liu1 · Huarong Liu1 · Xianlei Shan1 Received: 20 June 2020 / Revised: 6 October 2020 / Accepted: 8 October 2020 © The Korean Institute of Power Electronics 2020
Abstract This study proposes a design of an inner control loop for the load torque control of an electric load simulator (ELS), which is specifically designed to simulate load torque (i.e., load) for mechanical equipment. By mainly drawing on linear active disturbance rejection control, a mechatronic model-based inner loop controller of ELS is designed using measured torque to reduce the complexity of the estimator. A phase-locked loop observer is introduced to suppress the negative effects of the measurement error, thereby resulting in good performance for surplus torque suppression and the dynamic behavior of the control system. Simulations and experiments on a prototype machine are performed to verify the effectiveness of the proposed control method. Keyword Electric load simulator · Linear active disturbance rejection control · Torque compensation · Phase-locking loop observer
1 Introduction An electric load simulator (ELS) uses servomotors as power unit to provide the desired load torque for mechanical equipment and test the performance indexes under laboratory conditions. Compared with mechanical or hydraulic load simulators, the advantages of ELS include fast response, small volume, and simple structure and are extensively used in the fields of semi-physical simulation and prototype machine testing [1–5]. In practice, ELS supplies simulated load torque to a loaded object while moving passively with it. Therefore, the key task of ELS is to generate the desired load torque immediately and accurately while following the motion state of a loaded object [6, 7]. An ELS is a torque servo system, while a loaded object is generally a position or speed control system. The disturbance of ELS is mainly caused by the driving torque of a loaded object and inertia of the mechanical part, thereby highlighting the differences between an ELS and other traditional servo systems [6]. In addition, the coaxial connection * Xianlei Shan [email protected] 1
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
between ELS and a loaded object and elasticity of the mechanical link lead to the coupling of force and motion, as well as easy resonance [7–9]. For loaded objects with position invariance, ELS provides static or dynamic load torque without movement and surplus torque can be disregarded; however, resonance caused by the load torque deserves attention as well [10, 11]. For a loaded object with a continuous motion trajectory, the surplus torque and negative effects of the mechanical elastic link in ELS should be considered [12, 13]. When ELS simulates the load torque of a robot, the large range of variation of the simulated torque and surplus torque caused by frequent acceleratio
Data Loading...
