DOI: 10.17586/2226-1494-2015-15-2-253-259


V. N. Drozdov, K. Zawirski, A. A. Plotitsyn

Read the full article 
Article in Russian

For citation: Drozdov V.N., Zawirski K., Plotitsyn A.A. Two-motor elevation drive of the precision twin telescope. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2015, vol.15, no. 2, pp. 253–259.

Subject of research. Control system of a four-mass object (twin telescope) with dual motor drive is considered.
Method. The reducing ability of an object model to the third order is used for simplification of control system. The synthesis of a discrete controller algorithm is completed based on the reduced model of the object. Characteristics of the system which consists of four-mass object with dual motor drive and obtained regulator are investigated. Control synthesis based on the modified design method of an optimal control with guaranteed degree of stability is used. Reduced-order observer is used in the control system since only one parameter of the plant can be measured — angular velocity of one lumped inertia. System robustness is verified by changing the nominal parameters of the plant in 10% range.
Main results. In case of using a single motor drive a regulator can be built only on the basis of the model of object slow motions. System performance (bandwidth) should be enough low not to excite elastic vibrations. Control rate then is limited by the lowest resonating frequency of the plant. Numerical simulation reveals that transition time of the system with single motor drive significantly exceeds transition time of the system with dual motor drive. Both systems maintain the properties of robustness with changing parameter
Practical relevance. The results can be used in the control systems design of the complex electromechanical mechanisms
with elastic couplings such as telescope main drive axis.

Keywords: four-mass object, twin telescope, Hankel singular values, dual motor drive, controller algorithm.

1. Zhao S., Gao Z. An active disturbance rejection based approach to vibration suppression in two-inertia systems. Asian Journal of Control, 2010, vol. 15, no. 2, pp. 350–362. doi: 10.1002/asjc.552
2. Gao Z., Zang Y., Wu D. Analysis on parameter sensitivity and dynamic response of the mill drive system. Proc. Int. Conf. on Electrical and Control Engineering, ICECE 2011. Yichang, China, 2011, pp. 3828–3832. doi: 10.1109/ICECENG.2011.6057074
3. Szolc T., Konowrocki R., Michajlow M., Pregowska A. An investigation of the dynamic electromechanical coupling effects in machine drive systems driven by asynchronous motors. Mechanical Systems and Signal Processing, vol. 49, no. 1–2, pp. 118–134. doi: 10.1016/j.ymssp.2014.04.004
4. My F., Akmeliawati R., Wijaya A. Improved NCTF control method for a two mass point-to-point positioning system. Proc. Int. Conf. on Intelligent and Advanced Systems, ICIAS 2010. Kuala Lumpur, Malaysia, 2010,
5. Zirn O., Katthan L., Olbrich M., Freyhardt S. Vibration damping and automatic commissioning of miniature servo drives with flexible load. Proc. 7th IET Int. Conf. on Power Electronics, Machines and Drives, PEMD 2014. Manchester, UK, 2014, vol. 2014, no. 628 CP. doi: 10.1049/cp.2014.0270
6. Xu F., Shi L. Characteristics analysis of multiple in-wheel induction-motors drive system. Proc. IEEE Int. Conf. on Industrial Technology. Auburn, USA, 2011, art. 5754358, pp. 121–126. doi: 10.1109/ICIT.2011.5754358
7. Glazunov V.F., Lebedev S.K., Gnezdov N.E. Razrabotka i issledovanie mnogodvigatel'nykh sistem elektroprivodov peremennogo toka s nezhestkoi mekhanikoi [Development and research of multi-motor systems, AC drives with non-rigid mechanics]. Vestnik IGEU, 2005, no. 3, pp. 1–6.
8. Kumar D., Nagar S.K. Improved results on frequency weighted optimal Hankel norm model reduction. Proc. 9th Asian Control Conference, ASCC 2013. Istanbul, Turkey, 2013, art. 6606397. doi: 10.1109/ASCC.2013.6606397
9. Chaniotis D., Pai M. Model reduction in power systems using Krylov subspace methods. IEEE Transactions on Power Systems, 2005, vol. 20, no. 2, pp. 888–894. doi: 10.1109/TPWRS.2005.846109
10. Glover K. All optimal Hankel-norm approximations of linear multivariables systems. International Journal of Control, 1984, vol. 39, no. 6, pp. 1115–1193.
11. Zhou K., Doyle J.C. Essentials of Robust Control. Prentice Hall, 1998, 411 p.
12. Astrom K.J., Murray R.M. Feedback Systems: An Introduction for Scientists and Engineers. Princeton, Princeton University Press, 2008, 424 p.
13. Advances on Analysis and Control of Vibrations. Theory and Applications. Eds. M. Zapateiro de la Hoz, F. Pozo. InTech, 2012, 278 p.
14. Abdullin A., Drozdov V., Plotitsyn A. Modified design method of an optimal control system for precision motor drive. WSEAS Transactions on Systems and Control, 2014, vol. 9, no. 1, pp. 652–657.
15. Abdullin A.A., Drozdov V.N., Plotitsyn A.A. Sintez optimal'nogo upravleniya pretsizionnym elektroprivodom s garantirovannoi stepen'yu ustoichivosti [Optimal control system for precision electric drive with guaranteed degree of stability]. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2014, no. 3 (91), pp. 46–51.
Copyright 2001-2017 ©
Scientific and Technical Journal
of Information Technologies, Mechanics and Optics.
All rights reserved.