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Direct torsion control of flexible shaft in an observer-based discrete-time sliding mode

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3 Author(s)
Koronki, P. ; Dept. of Electr. Eng., Tech. Univ. Budapest, Hungary ; Hashimoto, H. ; Utkin, V.

This paper presents a new speed control method for a two-mass system coupled by a flexible shaft. Two control loops are proposed; the outer angular speed control loop calculates the reference signal for the inner loop, where the torsion of the shaft is handled as a variable under control. In this paper, the observer-based discrete-time sliding-mode (ODSM) control implementation and experimental verification of direct torsion control is presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and inertia load coupled by a flexible shaft. The controller was implemented using a transputer as the computation engine

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Industrial Electronics, IEEE Transactions on  (Volume:45 ,  Issue: 2 )