Real time mechatronic drive parameters identification

Robertas Janickas

Doctoral dissertation

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The parameters identification problems in mechatronic drives is analysed in the doctorial dissertation, the computer simulation models of the drive are compiled, the findings of the research of the identified imitated and measured mechatronic systems are presented, after having applied diverse laws of control.

The work solves the tasks of synthesis and analysis.

The first chapter reviews the tasks of the analysis when the input signals X are known (velocity and moment characteristics are known) as well as disturbances T (the moment of load), the equations of asynchronic motor systems are compiled after the solution of which the output variables Y are received (velocity and moment).

The second chapter investigates the tasks of the analysis when the possible disturbances are determined (losses in uncontrolled and controlled drives, losses during the moment of transient processes etc.) and their effect on the quality of the output signal (compliance with the real measured transient processes of the motor velocity and moment). The probable influence of the idealization and allowable errors of the motor model onto the output signal (velocity and moment) is presented as well. The third chapter deals with the comparison of the received errors.

The first and the most essential task of the work synthesis is the following i.e. how to the selected mathematical model of the drive,  it is possible to match the correction of the parameters, under the operational condition of the  prescribed input variables X (velocity and moment signal) and there are known/measured disturbances T (the moment of load, the voltage of the grid and the temperature of the environment) and the variables of the output Y (the moment produced by the motor, velocity, acceleration) and when partly the structure of the drive is known  (is selected the mathematical model of the drive),  it is required to specify the variables of the function F of the transfer in such a way as   it could be possible to obtain the output variables Y. Thus, the model is specified for its velocity and moment transient processes, which comply the real motor.

After compiling the mathematical model, which corresponds the real motor, there are again solved the tasks of analysis. Together with the introduction of the impact (input) signal X (the static and dynamic values of the velocity and moment), the identified model presents the change in time of the output signals (velocity and moment) which satisfy the appropriate real transient processes of the motor.

There have been made seven scientific publications regarding the doctorial dissertation theme, namely three in the periodically reviewed scientific publications: one in the scientific journal, in the data base of Thomson Reuters Web of Science; two – in periodic Lithuanian journals; four in the reviewed international conference material. There have been made eight presentations concerning the theme of the dissertation in the conferences of Lithuania and the other countries.

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Imprint No:
145×205 mm
124 p.
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