Open AccessA novel algorithm for sensorless motion control of flexible structures
Author(s) -
Islam S. M. Khalil,
Emrah Deniz Kunt,
Asif Şabanoviç
Publication year - 2010
Publication title -
turkish journal of electrical engineering and computer sciences/elektrik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.225
H-Index - 30
eISSN - 1303-6203
pISSN - 1300-0632
DOI - 10.3906/elk-0906-37
Subject(s) - actuator , control theory (sociology) , acceleration , torque , motion control , work (physics) , computer science , point (geometry) , control system , reaction , motion (physics) , control engineering , engineering , control (management) , physics , mathematics , mechanical engineering , artificial intelligence , geometry , electrical engineering , classical mechanics , robot , thermodynamics
This article demonstrates the validity of using an actuator as a single platform for measurements during a motion control assignment of flexible systems kept free from any kind of measurement. System acceleration level dynamics, parameters and interaction forces with the environment are coupled in an incident reaction torque that naturally rises when a flexible system is subjected to an action imposed by an attached actuator to the system. This work attempts to decouple each of the system parameters out of the incident coupled\udreaction torque at the interface point of the actuator with the flexible system by way of measurements taken from the actuator, not from the system. The identified parameters, along with the estimated states, are used to achieve sensorless motion control for flexible systems