[article]
| Titre : |
Analog implementation of a robust control strategy for mechanical systems |
| Type de document : |
texte imprimé |
| Auteurs : |
Alvarez, Joaquin, Auteur ; Rosas, David, Auteur ; Pena, Jonatan, Auteur |
| Article en page(s) : |
pp. 3377-3385 |
| Note générale : |
Génie électrique |
| Langues : |
Anglais (eng) |
| Mots-clés : |
Système mécanique Commande robuste |
| Index. décimale : |
621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie |
| Résumé : |
An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot. |
| DEWEY : |
621 |
| ISSN : |
0278-0046 |
| En ligne : |
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4838891 [...] |
in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3377-3385
[article] Analog implementation of a robust control strategy for mechanical systems [texte imprimé] / Alvarez, Joaquin, Auteur ; Rosas, David, Auteur ; Pena, Jonatan, Auteur . - pp. 3377-3385. Génie électrique Langues : Anglais ( eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3377-3385
| Mots-clés : |
Système mécanique Commande robuste |
| Index. décimale : |
621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie |
| Résumé : |
An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot. |
| DEWEY : |
621 |
| ISSN : |
0278-0046 |
| En ligne : |
http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4838891 [...] |
|
Analog implementation of a robust control strategy for mechanical systems in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009)
