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SAW torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems

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3 Author(s)
O'Sullivan, T.M. ; Dept. of Electron. & Electr. Eng., Sheffield Univ., UK ; Schofield, N. ; Bingham, C.M.

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.

Published in:

Power Electronics Specialists Conference, 2004. PESC 04. 2004 IEEE 35th Annual  (Volume:6 )

Date of Conference:

20-25 June 2004