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A SMOOTH POSITIONING SYSTEM USING FEEDFORWARD COMPENSATION AND PARAMETER IDENTIFICATION
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| Author(s) |
Louis-A. Dessaint; Bernard Hébert; Hoang Le-Huy |
| Abstract |
This paper will describe the implementation of a self-tuning regulator for the positioning of a direct-drive servo motor. The servo motor is a permanent magnet DC motor in which no gear reducer is used. The auto-tuning regulator consists o f two major loops. The inner loop contains a feedback (PD or PID) regulator with additional feedforward terms. The parameters of the regulator are adjusted by the outer loop which contains an on-line parameter estimator. The estimated parameters are the load inertia and friction. This auto-tuning scheme has been simulated and the results have been reported in a previous publication [1]. The real-time implementation of the controller is based on the use of a digital signal processor which is particularly well suited for adaptive control applications. |
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| Filename: | Unnamed file |
| Filesize: | 454.4 KB |
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| Type |
Members Only |
| Date |
Last modified 2021-02-09 by System |
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