|Brief Description:||This plant has the capability to emulate industrial dynamical features which are typical and non-desired (e.g. changes in gear ratios, torque disturbances, friction, gear backlash etc.) in the implementation of control techniques.|
The industrial emulator (ECP model 220) is a SISO/SIMO plant (depending on the adopted physical configuration). This system is able to introduce non-ideal properties which are common in modern industrial equipment and are challenging to overcome.
A linear controller is designed based on an ideal model and implemented on a non-ideal plant, which encompasses non-linearities and disturbances. A comparison is made to observer the losses in performance, and proper robust- or non-linear-based techniques are designed and implemented to recover the nominal performance.
Among the non-ideal properties, this plant can emulate:
- Drive and load inertias
- Gear ratio changes
- Disturbance torques
- Viscous or Coulomb Friction
- Drive Flexibility