Bp 281 en
Identification and control of the laboratory model Flexible Link
Author: Pecka Jaroslav
This thesis deals with the physical system Flexible link. In this work is gradually built a mathematical description of the various parts of the model. Followed by their identification and by their connection is created the final model of system. For this model are designed a few basic controllers for control the end of the link position and to damp the link vibrations. The system behaves strongly non-linear, mainly due to clearance between the gear teeth. That is why the achieved quality of control is not very well. At the end is discussed the appropriateness of the model for experiments with damping vibrating systems.