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Servo controller design and fault detection algorithm for speed control of conveyor system

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This paper proposes a servo controller design and fault detection algorithm for speed control of conveyor system (CS). Firstly, modeling for a CS is described. Secondly, the robust servo controller based on polynomial differential operator is applied to track the trapezoidal velocity profile reference input. Thirdly, a fault detection algorithm based on Extended Kalman Filter (EKF) is proposed. | SERVO CONTROLLER DESIGN AND FAULT DETECTION ALGORITHM FOR SPEED CONTROL OF CONVEYOR SYSTEM Nguyen Trong Hai HUTECH Institute of Engineering Ho Chi Minh City University of Technology HUTECH ABSTRACT This paper proposes a servo controller design and fault detection algorithm for speed control of conveyor system CS . Firstly modeling for a CS is described. Secondly the robust servo controller based on polynomial differential operator is applied to track the trapezoidal velocity profile reference input. Thirdly a fault detection algorithm based on Extended Kalman Filter EKF is proposed. From the EKF the estimated angular velocity indicates the encoder failure. The estimated friction indicates the mechanical failure Fault isolation is obtained by the friction bound. Finally the simulation and experimental results are shown to verify the effectiveness of the proposed algorithm. Keywords Fault detection Internal model principle Kalman Filter Servo system Speed control. 1. INTRODUCTION Conveyors are material handling devices not only to transport loads units but also to sort or store them temporarily. Most AC motor drives have used PI control 1 but difficult for applying to obtain sufficiently high performance in the tracking application. To satisfy the tracking requirements huge amount of algorithms were proposed by researchers 2 5 . However the transient performances are always unsatisfactory. To solve this problem Kim S. B. et al. 6-7 proposed a new concept of servo controller design method by introducing a polynomial differential operator. In this paper a robust servo controller proposed by Kim S. B. et al 7 is applied for speed control of a CS. The experimental results of the proposed servo controller are compared to the conventional PI controller and MRAC controller. Since the CS work automatically their safety is considered. In order to maintain the conveyor system several features such as energy consumption output temperature vibrations belt speed etc. might be .