This project is aimed at developing an adaptive control structure for a mechanical slewing system. The main objective for the controller is to dampen oscillations that occurs when the system is decelerating. Three adaptive control structures will be investigated, resulting in a proposed control structure in the form of a weighted 2-DOF PD design. To accomplish the task, a nonlinear equation is derived describing the systems equations of motion. Further the 2-DOF PD design will be tested on a real mechanical slewing system and will be proven to accomplish the set task of dampening the oscillations.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:uu-334684 |
| Date | January 2017 |
| Creators | Lindström, Jonas |
| Publisher | Uppsala universitet, Avdelningen för systemteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | Swedish |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
| Relation | UPTEC E, 1654-7616 ; 17 004 |
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