Matthias Jörgl, Hubert Gattringer,
"Dynamical Modeling and Flatness Based Control of a Belt Drive System"
, in Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim: Proceedings in Applied Mathematics and Mechanics Vol. 14, 2015, Vol. 14, 2014
Dynamical Modeling and Flatness Based Control of a Belt Drive System
Sprache des Titels:
Proceedings in Applied Mathematics and Mechanics Vol. 14, 2015
Belt driven systems are part of many industrial applications, like computerized numerical control (CNC) machines in
ular cutting machines and 3D-printers. In this paper the dynamical modeling and a ?atness based controller design f
driven systems are proposed. Due to the special kinematics, the stiffness of the belt is nonlinear, leading to nonlinear
tions of motion. By neglecting some minor dynamical effects, the resulting system simpli?es to a differentially ?at on
allows to calculate nominal feed-forward control torques by using the ?at output of the system. To stabilize the error d
ics, an additional PD control law is introduced. The proposed method is compared with a controller, where elastic de?e
for the feed forward part are neglected and elastic deformations are compensated by modifying the desired trajectori
model-based manner. The tracking performance of both methods is evaluated in certain simulations and experiments.