ADRC Load Position Controller for Two Mass System with Elastic Joint and Backlash

被引：0
作者：
Wicher, Bartlomiej [1 ]
机构：
[1] Poznan Univ Tech, Inst Control Robot & Informat Engn, Poznan, Poland
来源：
2018 23RD INTERNATIONAL CONFERENCE ON METHODS & MODELS IN AUTOMATION & ROBOTICS (MMAR) | 2018年
关键词：
ADRC; two mass system; backlash; extended state observer; ESO; tuning; controller; vibration damping; position control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next proposed performance indexes are calculated, finally conclusions and future works are discussed.
引用
收藏
页码：333 / 338
页数：6
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