Velocity model reference adaptive control of the conventional permanent magnet and variable flux DC motors

Model reference adaptive control (MRAC) is applied to either the variable magnetic flux or constant magnetic flux DC motor configured within a closed-loop velocity system. At the steady state level, the varying steady state gain and the perturbation effects of a constant, linear, and fluctuating loads on the closed-loop velocity response are compensated by MRAC. The controller is a digital design featuring a one-tap adaptive filter that matches the steady state velocity performance with that of a reference model. In order to corroborate theory, real-time evidence is shown using the Modular Servo System MS150 and the SPROClab development system