In any drive system, there are always couplings between the motor and the load. Since the\nhardness of these couplings is finite, they have elastic properties, causing unwanted vibration and\nnegatively affecting system quality. When the couplings are springs with nonlinear characteristics,\ncontrol is particularly difficult because it is very difficult or impossible to define the parameters\nof the controlled object. To solve these difficulties, this article proposes an adaptive controller of\nthe major functions for controlling a drive system with nonlinear elastic couplings of unidentified\nparameters. For the proposed control system, we measure the response speed of the object, use a\nLuenberger observer to estimate the state variables of the system, and use an adaptive controller to\ncontrol the system. The experimental results demonstrate that the control object can be controlled\nwithout knowing the parameters: the control quality of the system is very good, close to that of a\nsystem with a hard coupling, there is no vibration or overshoot, and the transition time is small.
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