Adaptive Decoupling Control of a Coupled Drives Apparatus

M. Kubalčík and V. Bobál (Czech Republic)


Multivariable control, decoupling precompensator, control algorithms, polynomial methods, adaptive control


Control of a coupled drives apparatus laboratory model as a two inputs two outputs system is presented. One control algorithm based on polynomial theory and pole placement is proposed. A decoupling precompensator is used to suppress interactions between control loops. The algorithm in adaptive version is then used for control of the model. The results of the real-time experiments are also given. The experiments were carried out with an experimental laboratory model CE 108 - coupled drives apparatus. This apparatus, based on experience with authentic industrial control applications, was developed in cooperation with the University of Manchester and made by a British company, TecQuipment Ltd. It allows us to investigate the ever-present difficulty of controlling the tension and speed of material in a continuous process. The process may require the material speed and tension to be controlled to within defined limits. Examples of this occur in the paper-making industry, strip metal and wire manufacture and, indeed, any process where the product is manufactured in a continuous strip.

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