Research And Design Of Elastic Torsion System Controller

The rotating machinery such as gas turbine and aeronautic generator is widely used in electric power,aviation,textile and etc.The elastic influence of the drive shaft can not be neglected because of the large load and high rotational speed.There are three kinds of elastomeric loads,mult-mass elastic torsion loads,elastic tension loads and multi-motor drive loads connected by elastic shaft.Multi-mass elastic torsion loads are extensively used in robot arm and joint movemnt and other fields.The flexible spring of drive shaft causes oscillating.Therefore,the research and design of the elastic torsion system is of great practical significance.The model of elastic torsion system was obtained through mechanism and experimental method.The mechanism modeling was obtained by analyzing the mechanism characteristics of the motor and the load module.The experimental model was identified through MATLAB System Identification Toolbox and the to-be-identified data was obtained by the open-loop step response.For the damped oscillation and volume lag characteristics of multi-mass elastic torsion system,PID controller with notch filter,cascade controller based on internal model and fuzzy control with integral were designed.PID controller with notch filter could reduce the resonance frequency and suppress the torsional vibration.In cascade control scheme,the motor,the first-mass,the second-mass and the connecting spring were as the secondary object,the third-mass and the connecting spring were as the primary object.The main controller adopted the internal model control(IMC)and the sub-controller adopted the P control which composed the IMC-PID cascade system.In addition,the fuzzy control with integral was adopted and the control rules were designed according to the object characteristics.The simulation results showed that these control schemes could effectively suppress the torsional vibration.On the B&R Programmable Computer Controller(PCC)platform,PID control with notch filter and cascade control were realized by the conversion of Simulink and Automation Studio.Fuzzy control algorithm was programmed directly by C language.The three control strategies were applied to the speed control of the third-mass.The experimental results showed that these control strategies could effectively suppress the torsional vibration and the fuzzy control algorithm was better.