Regulating non-linear engineering process e.g. DC machine field weakening or multi-axle robot movement behaviour

摘要

The method of regulation is used especially for regulating the torque at a motor shaft of separately excited DC machines using field weakening for speed variation or three-phase AC machines in a field weakening context or for active damping of the elastic vibrations of load cable of transporter crane. The non-linear technical process is linearised using the parallel circuit of a desired model, with the associated non-linear technical process. The desired model is integrated in the deviation observer, and it possesses only the linear part of the technical process and/or a representative operating circumstance. The behaviour of the desired model is forced in this manner to the non-linear technical process.