Robust Speed Control of a Low Damped Electromechanical System: Application to a Four Mass Experimental Test Bench

摘要

Robust speed control of a low damped electromechanical system with backlash is studied, when the controlled load angular speed can not be measured. The proposed control strategy combines a Luenberger observer and a robust CRONE controller (CRONE is a French acronym for" Commande Robuste d'Ordre Non Entier"). The observer provides estimation of both load angular speed and disturbance torque applied to the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observations errors. The proposed control strategy is applied to a four mass experimental test bench.