Parameter Estimation and Control Structure Synthesis for Oscillatory Mechanical Two-Mass Systems

Parameter Estimation and Control Structure Synthesis for Oscillatory Mechanical Two-Mass Systems

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This work presents a complete procedure of the pom pom berry orion flavor closed-loop control system tunning for the electric drive with a two-mass flexible actuator.The Welch method and frequency analysis are used for the plant’s parameter identification.The feedback compensator based on the time derivative of the acceleration is designed to compensate for the plant oscillations.Model reference control (MRC) control law is used for the velocity control design.

An additional actuator end-point model-based observer is designed.The whole proposed methodology is tested and umcka where to buy demonstrated on the experimental test bench.The results are discussed and compared with the existing methods.