DIRECT AND INDIRECT ADAPTIVE CONTROL OF A TWO-MASS DRIVE SYSTEM A COMPARISON

INTRODUCTION Many control structures have been proposed in order to damp the torsional vibrations of the drive system with a flexible connection between the motor and the load machine.In order to ensure the desired dynamic characteristics of the controlled drive, the application of the different techniques has been proposed. Thus, two types of the adaptive control can be distinguished. The first one is called the indirect adaptive control. The second type is called the direct adaptation mechanism. In contrast to the indirect approach, it lacks the identification process.

THE MATHEMATICAL MODEL OF THE ELASTIC DRIVE SYSTEM AND THE PROPOSED CONTROL STRUCTURES In this paper the commonly-used model of the drive system with the resilient coupling is considered. The classical cascade control structure, typically used in industrial drives, consists of two major control loops. The classical cascade control structure, typically used in industrial drives, consists of two major control loops. The inner control loop encloses the electromagnetic torque controller, the power converter and the electromagnetic part of the motor. The outer control loop includes the mechanical part of the drive, the speed sensor and the PI controller. The first considered adaptive control concept is based on the MRAS scheme with the on-line tuned SNFC. The second control scheme investigated in the paper is based on the indirect adaptive control.

EXPERIMENTAL RESULTS The results confirm the efficiency of both proposed control structures. The characteristics of the investigated structures can be formulated based on the presented work and author experience. first, The MRAS control structure is able to damp the t orsional vibrations effectively basing on the feedbacks from the driving motor speed. This structure does not need the information of the additional system states which simplifies its practical realization. Second, the torsional vibrations are damped effectively in the system with the inertia ratio less than one (R<1). The performance of the MRAS control structure are not proper for the system with R>2. Third, the MRAS control structure is robust against the changing of all system parameters, not only the T2. Fourth, the indirect adaptive control

structure can ensure the proper characteristics of the drive with a changeable time constant of the load machine. Other than that, the indirect control structure is not robust to the variation (or incorrect identification) of the other system parameters, such as the time constant of the driving motor and stiffness time constant. Furthermore, the additional adaptation of the element q55 of the covariance matrix Q improves the accuracy of the estimated state variables. The adaptive control structures working with the Kalman filter can be used for the system with different inertia ratio (smaller or bigger than 1). The practical realization of the MRAS control structure requires less computational effort than the indirect adaptive control structure working with the NEKF. Lastly, the tunning effort is smaller in the MRAS control structure (2 parameters) as compared to the indirect control structure with NEKF (6 parameters).

CONCLUSION The performances of the considered system are demonstrated by chosen simulation and experimental results.