Page 60 - Adaptive Identification and Control of Uncertain Systems with Nonsmooth Dynamics

Adaptive Dynamic Surface Control of Two-Inertia Systems With LuGre Friction Model 51

Figure 3.5 Simulation results of the proposed control: (A) motor speed and load speed;
(B) electromagnetic and torsional torques; and (C) tracking error.

non-linear frictions. The load-side speed can accurately track the motor
speed as shown in Fig. 3.5A, and there is no shaft torque oscillations in
Fig. 3.5B, which means that the torsional vibrations are damped effectively.
In addition, the transient tracking error s 1 is retained within the prescribed
performance bound as shown in Fig. 3.5C. Moreover, the evolutions of
the real system states and the observer states are shown in Fig. 3.6,which
shows very good observer response. The above simulation validates that the
proposed control can guarantee satisfactory dynamic performance of the
proposed control for two-inertia systems.

3.4.2 Experiment Results
To show the applicability, a realistic two-inertia system is used as the test-rig
to carry out experiments. The configuration of this experimental setup is
shown in Fig. 3.7, which is composed of a permanent-magnet synchronous
motor connected with a load, a PC with a 2.0 GHz i5 CPU and 2G
memory, and a digital signal processor (DSP, 28335) [34]. The control
methods are implemented by using Visual C++ program with sampling