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Zbl 1142.93389
Sabatier, Jocelyn; Poullain, Serge; Latteux, Patrick; Thomas, Jean Luc; Oustaloup, Alain
Robust speed control of a low damped electromechanical system based on CRONE control: application to a four mass experimental test bench. (English)
[J] Nonlinear Dyn. 38, No. 1-4, 383-400 (2004). ISSN 0924-090X; ISSN 1573-269X/e

Summary: Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.

MSC 2000:: *93C95 Appl. of control theory
70Q05 Control of mechanical systems
70-05 Experimental papers (mechanics of particles and systems)

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