Dp 422 en
Control of Laboratory Model Coupled Drives
Author: Jonáš Petr
This thesis deals with the analysis, identification and control of the laboratory model CE108 with coupled drives which is situated in the Laboratory of Automatic Control Theory K26. The goal of this diploma work consist in controlling two electric drives that are coupled together through the system. It will introduce readers to interacting dynamical system and multivariable control. The basic control problem is to vary the torque in the motors to regulate the belt speed and tension. The control demonstrations are performed using models of real system. The basic control of the laboratory system is implemented by PI controllers, LQ and LQG controllers. For the final control of the whole MIMO system is used decentralized feedback control, LQ controller and decoupling controller.