A robust adaptive controller for PM motor drives in robotic applications

The paper deals with theoretical development and practical implementation of an adaptive speed and position regulator suitable for robotic applications. The proposed adaptive control scheme is characterized by a reduced amount of computation and is based on the model reference adaptive control approach to compensate the variations of the system parameters, such as inertia and torque constant. A disturbance torque observer is employed to balance the required load torque and reduce the complexity of the adaptive algorithm. Simulation tests of a robotic drive, including an interior type permanent magnet synchronous (IPMS) motor, are reported in order to compare the proposed control scheme with standard speed and position regulators. Experimental results, obtained from a prototype based on a commercial PC board, are also reported in order to practically evaluate the feasibility and the features of the proposed adaptive control scheme. >

[1]  N. Matsui,et al.  DSP-based adaptive control of a brushless motor , 1988, Conference Record of the 1988 IEEE Industry Applications Society Annual Meeting.

[2]  J.H. Lang,et al.  Real-time adaptive control of the permanent-magnet synchronous motor , 1990, Conference Record of the 1990 IEEE Industry Applications Society Annual Meeting.

[3]  Y. D. Landau,et al.  Adaptive control: The model reference approach , 1979, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  K.E. Brown,et al.  Design, implementation, and testing of an adaptable optimal controller for an electric wheelchair , 1989, Conference Record of the IEEE Industry Applications Society Annual Meeting,.

[5]  Karl Johan Åström,et al.  Adaptive Control , 1989, Embedded Digital Control with Microcontrollers.

[6]  I. D. Landau,et al.  A survey of model reference adaptive techniques - Theory and applications , 1973, Autom..

[7]  R. S. Colby,et al.  An efficiency-optimizing permanent-magnet synchronous motor drive , 1988 .

[8]  Paul C. Krause,et al.  Analysis of electric machinery , 1987 .

[9]  Susumu Tadakuma,et al.  Microprocessor-Based Adjustable-Speed DC Motor Drives Using Model Reference Adaptive Control , 1987, IEEE Transactions on Industry Applications.

[10]  D. P. Stoten.  Model Reference Adaptive Control of Manipulators , 1990 .