A Holistic Highly Dynamic Drive Control Concept for Elastic Systems with Flawed or Incomplete Sensor Data

Abstract:
This paper presents a holistic approach to realise model-based control concepts for complex drive systems. Such drive systems, e.g. with multiple elasticities and error-prone sensors, usually require the combination of dfferent sophisticated control engineering methods to achieve excellent performance. However, such a combination often leads to high solution complexity with extensive computational and development efforts. Therefore, this paper presents a holistic approach based on two guidelines that enable the formulation of fully model-based solutions with minimised complexity. This is achieved by using only one common basic model and by having the individual control approaches synergistically complement and build on each other. The capacity of the approach is experimentally proven using the example of an elastic drive system with erroneous sensor data that combines the challenges of exact positioning and oscillation reduction.