Collocated Position Control of Oscillatory System in Presence of Delay

Bence Szaksz, G. Stépán
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Abstract

The stability of the collocated position control of a mass is studied when a pendulum is attached to it. The simplest proportional-derivative (PD) controller is applied, but the relevant constant time delay is taken into account. The linearized governing equations of the system are investigated. Stability charts are constructed for different pendulum parameters. Closed form expression is derived for the critical time delay; for delay values larger than the critical one, the PD controller cannot stabilize the desired position of the mass. The frequencies of the self-excited vibrations at the stability boundaries have essential role in identifying the types of loss of stability.
存在时滞的振荡系统的配置位置控制
研究了当摆体附着在一个质量体上时,其配位控制的稳定性。采用最简单的比例导数(PD)控制器,但考虑了相关的常数时间延迟。研究了系统的线性化控制方程。针对不同的摆摆参数,构造了稳定性图。导出了临界时滞的封闭表达式;当延迟值大于临界值时,PD控制器无法稳定质量的期望位置。稳定边界处自激振动的频率对确定失稳类型有重要作用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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