Use of load-side MEMS accelerometers in servo positioning of two-mass-spring systems

Roberto Oboe, Davide Pilastro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In many industrial applications, servo-positioning devices are composed of an electric motor, connected to the mechanical load through elastic elements. The problem of two-mass resonant systems has been studied for long time, and the main issue targeted has been the development of accurate and robust servo positioning devices, without making use of a load-side position sensor. Indeed, by using properly designed observers, it is possible to obtain accurate information on the load position, but the robustness of control laws based on this solution is known to be rather weak. In this paper, we explore the feasibility, the performance and the robustness of a an optimal feedback control, in which the full state of the system is obtained by a Kalman Filter (KF), which process not only the position measurement of the motor, but also the acceleration measurement of the load, obtained by using a low-cost MEMS sensor. The experimental results confirm that by using this additional sensor, the robustness of the control is greatly improved, thanks to the higher accuracy of the estimate of the load side variables.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4603-4608
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - Jan 25 2016
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/TerritoryJapan
CityYokohama
Period11/9/1511/12/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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