CONTROL DESIGN FOR SERVO AMIRA-DR300

ROUBAL, J.; AUGUSTA, P.; HAVLENA, V.; FUKA, J.

Abstract

This paper is written for students who are starting to study at Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague as the motivation for studying control engineering. The paper shortly presents procedures of the control design, including a description of a system, an identification of its parameters, a simple and an advanced controller design. The controller design procedures are illustrated in the control design for the laboratory model servomechanism AMIRA - DR300 that is held in laboratory K26, Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague. For identification of the system, some experiments are perform. At first a suitable input signal which provides sufficient excitation of the system in linear area is generated. Then the generated input is applied into the system and the output rotation speed is measured. Using the least squares method the transfer function between the input voltage and the output rotation speed is obtained. The step responses of the system and its model are compared for the model validation. For the model, the PID controller, the LQ controller with Kalman filter for estimation of the system states are designed. Unlike in PID control, the controlled variable (output rotation speed) in LQ control does not asymptotically track the reference signal because the steady state error of the estimate of the system states is not equal to zero. This problem is solved by a modification of the Kalman filter which not only estimates system states but the load torque too.

Coresponding author e-mail: roubalj[at]control[dot]felk[dot]cvut[dot]cz

Session: Control Education