Adaptive eccentricity compensation

The paper is devoted to the problem of rejecting oscillatory position-dependent disturbances with unknown frequency and unknown amplitude. The considered disturbances are assumed to be produced by eccentricity in mechanical systems and drives. Most of the previous works on eccentricity cancellation assume a time-depending oscillation, we instead assume that the oscillatory disturbance is position-dependent. This leads us to formulate and to globally solve the adaptive cancellation problem using a velocity-dependent internal model of the eccentricity. The proposed control design results in an asymptotically globally stable adaptive eccentricity compensator (AEC). An apparatus with rolling eccentricity has been built to test the controller. The paper presents a series of experimental results showing the improvements of this controller. Also a comparative study with a simple proportional integral (PI) regulator is presented.