The adaptive control of an electrical drive intended for positioning applications is addressed. The regulator is based on a pole-placement technique and an online identification algorithm. The results of previous work by the authors are reviewed and a more accurate modeling is worked out by including a term accounting for the torque; to this aim a static feedforward element is designed and added to the control scheme. The limit on the motor current provided in actual systems is taken into account, and a desaturation strategy is proposed and tested. A further improvement of the performances is obtained by a dynamical change in the saturation limits. A number of simulations are presented to illustrate the performance of the system
Design of a digital adaptive controller for electical drives in industrial automation
BASSI, EZIO;BENZI, FRANCESCO;
1992-01-01
Abstract
The adaptive control of an electrical drive intended for positioning applications is addressed. The regulator is based on a pole-placement technique and an online identification algorithm. The results of previous work by the authors are reviewed and a more accurate modeling is worked out by including a term accounting for the torque; to this aim a static feedforward element is designed and added to the control scheme. The limit on the motor current provided in actual systems is taken into account, and a desaturation strategy is proposed and tested. A further improvement of the performances is obtained by a dynamical change in the saturation limits. A number of simulations are presented to illustrate the performance of the systemI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
