A State-Space Controller for Movement Axes with Flexibilities

Abstract

Efficient controllers of joint axes with significant flexibilities in the drive train demand the processing of position and angular velocity from the motor as well as from the joint. The cascaded control system with measuring signals from the motor shaft, which is the state of the art, has to be extended in this way. In this paper, the control method ReDuS+ is presented. ReDuS+ allows a user, who is not well skilled in control theory, to define the control performance by simple characteristic values in step with actual practice. On the base of these specifications and a mathematical model of the controlled system, the control parameters will be automatically determined.