Title :
A simple and robust adaptive controller for PM motor robotic drives
Author :
Cerruto, E. ; Consoli, A. ; Raciti, A. ; Testa, A.
Author_Institution :
Dipartimento Elettrico Elletronico e Sistemistico, Catanian, Italy
fDate :
29 Jun-3 Jul 1992
Abstract :
The theoretical development and the practical implementation of an adaptive speed and position regulator suitable for robotic applications are addressed. The proposed adaptive control scheme, which is characterized by a reduced amount of computation, is based on the model reference adaptive control approach, and employs a disturbance torque observer that makes it possible to noticeably simplify the adaptive algorithm. Simulations that compare the proposed control scheme with standard speed and position regulators are reported. Experimental results for a prototype based on a commercial PC board, used to evaluate the features of the proposed adaptive control scheme are also reported
Keywords :
electric drives; machine control; microcomputer applications; model reference adaptive control systems; permanent magnet motors; position control; power engineering computing; robots; velocity control; PC board; PM motor robotic drives; disturbance torque observer; model reference adaptive control; position regulator; robust adaptive controller; speed regulator; Adaptive algorithm; Adaptive control; Control systems; Costs; Error correction; Programmable control; Regulators; Robots; Robust control; Testing;
Conference_Titel :
Power Electronics Specialists Conference, 1992. PESC '92 Record., 23rd Annual IEEE
Conference_Location :
Toledo
Print_ISBN :
0-7803-0695-3
DOI :
10.1109/PESC.1992.254778
