Laboratory Model of Coupled Electrical Drives for Supervision and Control via Internet
Servo drives are used in a wide range of industrial applications including metal cutting, packaging, textiles, web-handling, automated assembly and printing. Servomotors in a typical industrial environment are linked to their end effectuators by transmission mechanisms having a finite stiffness. The elastically coupled two-mass motor/load system introduces finite zeros and the pair of conjugate complex poles in the transfer function of the system plant and, thus, brings up the problem of mechanical resonance. The resonance phenomenon may provoke weakly damped oscillations of the link. Vibration suppression and disturbance rejection in torsional systems are important issue in a high performance motion control. For experimental verification of mentioned phenomena at Faculty of Engineering at University of Kragujevac is developed a laboratory model of coupled electrical drives. The paper describes development and potential use of this laboratory model for engineering education and training. This experimental setup is very expensive according to Serbian standards and unique at Faculty of Engineering. In order to enable wider access to the laboratory model, and exemplary teaching/learning materials concerning with the laboratory model, the laboratory model is integrated in WEB laboratory.
KeywordsElectric drive control Disturbance rejection Remote laboratories High-performance speed servo drives Torsional resonance Oscillation suppression
Work on this paper was partly funded by the SCOPES project IZ74Z0_160454/1 “Enabling Web-based Remote Laboratory Community and Infrastructure” of Swiss National Science Foundation.
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