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  • 标题:Efficient piecewise-affine coupled-system feed-forward control of a nonlinear elastomer coupling ⁎
  • 本地全文:下载
  • 作者:Alexander Schirrer ; Josef Mayrhofer ; Daniel Ritzberger
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2018
  • 卷号:51
  • 期号:2
  • 页码:861-866
  • DOI:10.1016/j.ifacol.2018.04.022
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractFor a simplified elastic drive train with nonlinear coupling torque, this paper proposes an efficient model of the coupled system model in time-discrete form. It is obtained from piecewise-exact discretization of the continuous-time system model and allows precise, efficient feed-forward control in real time. The high model accuracy is validated in a hardware-in-the-loop setting on a laboratory test rig for elastomer couplings. The model-based control law allows safe operation of the test rig across the system’s resonance range.
  • 关键词:KeywordsByrnes-Isidori nonlinear controllability canonical formtime-discrete systemnonlinear dynamicsfeedforward controlexperimental validation
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