O'Sullivan, T M and Schofield, N and Bingham, C M (2004) SAW torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems. In: Power Electronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual , 20-25 June 2004, Aachen, Germany.

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Abstract

The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins.

Item Type:	Conference or Workshop Item (Presentation)
Additional Information:	The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins.
Keywords:	SAW torque transducers, Disturbance rejection
Subjects:	H Engineering > H600 Electronic and Electrical Engineering
Divisions:	College of Sciences > Faculty of Science > Lincoln School of Engineering
Depositing User:	Paul Stewart
Date Deposited:	30 May 2010 19:11
Last Modified:	13 Mar 2013 08:38
URI:	http://eprints.lincoln.ac.uk/id/eprint/2595

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