Controller Design for MIMO Servo System Using Polynomial Differential Operator - A Solution for Increasing Speed of an Induction Conveyor System

摘要

Improving speed of a belt conveyor system would reduce the cost and reduce downtime. This paper proposes a solution for increasing speed of a belt driven transmission section in an induction conveyor system by applying multi input multi output (MIMO) robust servo controller design method using polynomial differential operator based on the internal model principle. The servo system design is done as follows. Firstly, modeling for a belt driven transmission section in an induction conveyor system is described. Secondly, an extended system including reference and disturbance in polynomial differential equation form is introduced. Based on the extended system, controllability analysis of the extended system is derived. Finally, a state feedback control law for the servo system to track the given reference input is designed by a well known regulator design method. The implementation of the proposed servo controller for a belt driven transmission section is completely carried out using an ARM STM32F103ZE microprocessor. The simulations and experimental results show the effectiveness of the proposed servo controller compared to the conventional PI controller and MRAC controller for high speed control of a belt driven transmission section in an induction conveyor system with a step type of disturbance and 3 types of the references such as step, ramp and trapezoidal, etc.