Abstract
This paper deals with the tracking control of a particular heavy chain system, which consists of a chain mounted onto a pivoted disk. To this end, the governing system of ordinary differential equations is derived and a trajectory is computed via numerical optimization. As the arising optimization problem is computationally complex, a multithreading algorithm for parallel computation of the required derivatives is presented. Furthermore, a stabilizing feedback controller, based on damping injection and an integrator backstepping approach, is derived. Finally, measurements of a laboratory experiment show an excellent performance of the proposed control concept.
Zusammenfassung
Dieser Beitrag befasst sich mit der Trajektorienplanung und Regelung für das Labormodell „Scheibe mit schwerer Kette“. Bei diesem speziellen Modell ist die Kette an einer drehbar gelagerten Scheibe montiert. Die Trajektorie wird durch numerisches Lösen eines Optimierungsproblems berechnet, welches auf Grund der hohen Modellordnung äußerst komplex ist. Um die Laufzeit des Optimierers signifikant zu verringern, wird ein Multithreading-Algorithmus zur parallelen Berechnung der benötigten Ableitungen vorgestellt. Zur Stabilisierung der berechneten Trajektorie wird eine Kombination aus passivitätsbasiertem Reglerentwurf und einem Backstepping-Regler verwendet. Abschließend wird anhand von Messergebnissen die ausgezeichnete Funktion des vorgeschlagenen Regelungskonzepts demonstriert.
About the authors
Christoph Hinterbichler received his diploma in Mechatronics from the Johannes Kepler University Linz (JKU), Austria, in 2016. Since then, he has been pursuing his PhD at the Institute of Automatic Control and Control Systems Technology. His research focuses on the industrial application of advanced control concepts and numerical optimization.
Jakob Brunner received his diploma in Mechatronics from the Johannes Kepler University Linz (JKU), Austria, in 2017. He is currently employed as NVH (Noise, Vibration, Harshness) engineer at BRP Rotax GmbH & Co KG.
O. Univ.-Prof. Dipl.-Ing, Dr. techn. Kurt Schlacher is head of the Institute of Automatic Control and Control Systems Technology, Johannes Kepler University Linz, Austria. Main research topics and areas of work: Modeling and control of nonlinear lumped and distributed parameter systems having regard to industrial applications and deploying differential-geometric and computer algebra based methods.
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