Dynamic Emulation of Mechanical Loads in Electric Drives Closed-loop emulation using a feedforward-tracking principle with compensator
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Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Program
Systems, control and mechatronics (MPSYS), MSc
Publicerad
2024
Författare
Bengtsson, Mikael
Modellbyggare
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Abstract
This thesis presents a method of emulating a mechanical load in the context of electric drive systems. It investigates the implementation of a closed-loop emulator, based on a feedforward-tracking principle, on an existing dynamometer system. Furthermore, it analyses the possibilities of using a torque sensor to enhance the emulation performance and accuracy. Physical modeling and system identification methods have been used to obtain a linear model of the dynamometer system. This model serves as the basis for a compensator in the emulator and is also used for system simulations. The results show that the proposed emulator has the ability to emulate linear loads with varying inertia and friction, both in simulations and on the physical system. The resulting emulated velocity exhibits some oscillations when emulating moderate to high inertia loads. The cause of this is believed to originate from delays in the system.
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Keywords: dynamic emulation, system identification, LTI system, discretization, feedforward controller