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Motor Model-based Optimal Robust Guaranteed Cost Control for Two-motor Web-winding System
Hongyun Xiong,Yipeng Lv,Bin Cheng,Xiaohong Nian,Xiaoyan Chu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11
In this paper, a novel comprehensive model for the two-motor web-winding system is proposed, which combines the classical web-winding system model with the driven-motor model. Based on the proposed model, the state feedback robust control (SFRC) strategy is designed to handle systematic uncertainty and time-varying parameters. And then in order to reduce the control cost of the web-winding system, an optimal robust guaranteed cost control (ORGCC) approach is studied. First, the reference control inputs and error dynamic model are derived based on the proposed comprehensive model. Then, the SFRC strategy and ORGCC approach are designed to calculate control compensation. By regarding some suitable parameters as interval variables, the proposed controllers have good robustness for parameter variations and environmental disturbance. Finally, the simulation results illustrate the effectiveness of the proposed model and control.
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Xiaoyan Chu,Xiaohong Nian,Miaoping Sun,Haibo Wang,Hongyun Xiong 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.3
This paper develops a method estimating the actuator power loss faults for the multi-motor web-windingsystem. Firstly, the web-winding system is regarded as a synthetic system with several dynamic subsystems andtheir dynamic models are given. Then, the nonlinear coordinate transformation is introduced to obtain a transformedsystem with block triangular structure and the interconnections among subsystems are allowed. Next, a decentralizedadaptive high-gain observer with sliding-mode is designed for the obtained transformed system to estimate thesystem actuator power loss faults. Meanwhile, the estimation error dynamics can be obtained. Sufficient conditionsof asymptotic stability for estimation error system are derived by Lyapunov theory, and the sliding-mode gain andfault estimation law are achieved. After that, the fault estimation observer for original multi-motor web-windingsystem is designed by inverse coordinate transformation. Finally, the simulations and analysis are implemented onthe three-motor web-winding system to verify the effectiveness of the proposed method.
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