Parameter estimation and model based control design of drive train systems

Sammanfattning: The main control task in many speed-controlled drives is to eliminate or reduce the load speed error caused by the load torque disturbance and reduce oscillations as quickly as possible. This thesis addresses different aspects of identification and control of such resonant elastic systems.In most industrial applications it is not practical to measure the load speed. Instead, we advocate model based control design that optimizes load speed while using motor speed as the feedback signal. For this to be possible one needs a mechanical model of the system and we suggest finding the mechanical parameters by estimation from experimental data.Hence a method has been developed which finds the mechanical parameters, including backlash, through a series of three dedicated experiments. At first this procedure is developed for the situation of one manipulated input, the motor torque, and one measured output, the motor speed.For drive systems with a very large motor in comparison to the load, it becomes very difficult to estimate all mechanical parameters from motor speed measurements only. An alternative estimation method has been developed for this purpose, using an additional sensor for the shaft torque.One more rather specific control problem is treated in the thesis, namely for drive systems with tandem coupled motors, where control structures have been developed with and without an extra sensor for shaft torque.