| Abstract |
On-line adaptive control is investigated. The identification is carried out with the help of the Recursive Least Squares Algorithm (RLS-) and the controller adaptation is based on a Pole-Assignment strategy. Emphasis was put on the realization of the scheme on a microprocessor-system and the implementation to control the speed and position of a complex electrical drive system with poorly damped or even unstable and variable resonant load characteristics. A fourth order system with up to six unknown parameters had to be identified and controlled. Besides the identificatlon and controtler adaptation, monitoring strategies had to be implemented, to evaluate the quality of the parameter identification and new controller settings in order to avoid instabilities because of disturbances or insufficient excitabion; the latter one is especially of importance if adaptive control is carried out in closed loop systems and without additional test signals. Experimental results, showing the on-line adaptive control perfomance of a 40 kW DC-drive with changing load characteristics are presented. |
