Passification-Based Robust Phase-Shift Control for Two-Rotor Vibration Machine

In this paper, the solution to the problem of robust control of the phase shift during rotation at a given speed of the unbalanced rotors for a two-rotor vibratory machine is presented. The solution to this problem is relevant for the development of vibration technologies (for example, a vibro-transportation of bulk materials). The proposed controller includes two proportional-integral (PI) rotor speed controllers with a cross-coupling, which receive signals with opposite signs from the phase shift controller. Unlike previous works, where a PI controller for phase shift control was also taken, including the adaptive controller with an implicit reference model (IRM), in the present paper, a relay-type signal controller with an integral component without a parametric adaptation is used. This approach allows, while maintaining robustness, to increase the operation speed and accuracy of the control process, avoiding at the same time the possible divergence of the tunable parameters due to the influence of noises and disturbances caused, among other things, by vibrations of the setup's structural elements and measurement errors. For the control law design, the speed-gradient method was employed. For various types of reference phase-shift signals (constant, harmonic, chaotic), the results of extensive experimental studies performed on the mechatronic vibration setup and the simulations accomplished based on the results of identifying the parameters of the stand drive model are presented in the paper. The obtained results confirm the efficiency and robustness of the proposed algorithm and allow one to reveal the system performance properties.