Page 19 - Journal Cover.pdf

Matrood & Nassar | 15

REFERENCES
TABLE 2
PARAMETRIC RESULTS BEFORE AND AFTER [1] Jun-Keun Ji Seung-Ki Sul, "Kalman Filter and LQ
ADDING PID-D AND I-PD CONTROLLERS TO THE Based Speed controller for Torsional Vibration
Suppression in 2-Mass Motor Drive System ", IEEE
2DOF TORSIONAL SYSTEM
Transactions on Industrials Electronics, vol. 42, No. 6,
1995.
Settling Time [2] Y. Wu, K. Fujikawa, and H. Kobayashi , “ A torque
System Property Amplitude
(second) control method of two-mass resonant system with
∆θ (rad) 7*10 -3 1.5 PID-P controller,” in Proc. Int. Workshop AMC,
Coimbra, pp. 240–245, 1998.
∆ ̇ (rad/s) 0.66 1.5 [3] F. Qiao, Q.M. Zhu, S.Y. Li, and A. Winfield, "
Uncontrolled 2
∆ ̈ (rad/s ) 66 1.5 Torsional Vibration Suppression of a 2-Mass Main
T s (Nm) 1.7 1.5 Drive System of Rolling Mill with KF Enhanced Pole
th
Placement ", IEEE Proceedings of the 4 World
∆θ (rad) 2.13*10 -3 0.2 Congress on Intelligent Control and Automation , 2002.
∆ ̇ (rad/s) [4] K. Szabat and T. Orlowska-Kowalska, “ Vibration
PID-D 0.305 0.2
Controller ∆ ̈ (rad/s ) 33.5 0.2 suppression in two-mass drive system using PI speed
2
controller and additional feedbacks Comparative
T s (Nm) 0.57 0.2 study , ” IEEE Trans. Ind. Electron., vol. 54, no. 2, pp.
∆θ (rad) 1.05*10 0.13 1193–1206, 2007.
-3
[5] Gh. Shahgholian, J. Faiz, P. Shafaghi, “Analysis and
∆ ̇ (rad/s) 0.233 0.15
I-PD Simulation of Speed Control for Two-Mass Resonant
2
Controller ∆ ̈ (rad/s ) 29.85 0.2 System”, IEEE/ICCEE, pp. 668-672, 2009.
T s (Nm) 0.25 0.12 [6] M.R. Yousefi, Gh. Shahgholian, A. Etesami,P.
Shafaghi, “ Small Signal Modeling and Analysis of
Control Speed for Two Mass Resonant System”,
V. CONCLUSIONS IEEE/IPEC, pp. 1000-1003, 2010.
[7] Ghazanfar Shahgholian, Afshin Etesami, Mohammad
In this study, an investigation of the reasons causing Reza Yousefi and Farshad Mogharrab Tehrani, "
oscillations and instability in 2-DOF torsional rotating Development of State Space Model and Control
system "motor, transmission part and load" has been Design of Two - Mass System Using Standard Forms ",
presented with the existence of load disturbance torque. IEEE 3 International Conference on Communication
rd
Newton ̓ s second law was used to derive the mathematical Software and Networks, 2011.
model of the dynamic system. It has been deduced [8] Ekhlas Hameed Karam, " Hybrid Connection of PID
throughout the previous explanation that there are many of and Fuzzy Controller for Flexible Joint Robot with
instability sources, some of them mechanical such as inertia Uncertainties", Journal of Engineering and
mismatch, shaft stiffness and shaft damping while others are Development, Vol. 17, No.5,ISSN1813-7822, 2013.
electrical like pulsations associated with the torque [9] Gh. Shahgholian, P. Shafaghi, Z. Azimi, " State space
generated by the motor and noise initiated due to positioning model and speed control of two-mass resonant system
of single loop sensors. It was shown that the position of a using state feedback design ", International Journal on
feedback sensor has great effect, using single loop feedback Technical and Physical Problems of Engineering, Vol.
circuit made the system unstable; however; oscillations may 6, No.2, PP.111-116 , 2014.
be introduced due to the difference in the load response as a [10] Fatih Cüneyd [10] Korkmaz, Muhammet Ertuğrul Su,
result of twisted shaft. Placing dual loop feedback sensors on Fuat Alarçin," Control of Ship Shaft Torsional
both motor and load sides took the flexibility of shaft into Vibration Via Modified PID Controller",
account. Such controllers gave minimum oscillations, Brodogradnja/Shipbuilding , Vol. 65, No. 1, PP. 17-27,
overshot has been decreased, smoother steady state and good 2014.
transient responses with high accuracy. As a result, it is clear [11] Slobodan N. Vukosavic,"Digital Control of Electrical
that with the dual loop control, a good performance has been Drives", Springer Science, 978-0-387-48598-0, 2007.
achieved. As indicated in Table 2, the time taken for the [12] George Ellis, "Control System Design Guide",
main system to settle for the steady state with PID – D and Elsevier Academic Press, Third Edition,
I – PD controllers has been reduced to about 13 % and 10 %
respectively from the entire time taken by the uncontrolled 0-12-237461-4, 2004.
system which means faster steady state approach. In addition
the other referred parameters have been improved by
reducing the corresponding values.