Performance analysis of the speed servomechanism with the adaptive PI controller

I. Krcmar, P. Matić, D. Marčetić, P. Maric
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引用次数: 1

Abstract

An adaptive proportional and integral controller for digital speed control in electrical drives is derived and analysed. Adaptation of the controller parameter is gradient descent procedure. The adaptive controller is derived from the discrete-time model of a digitally controlled speed servomechanism. Discrete-time model is obtained from the Z-transforms of the system signals and elements. Applied controller has distributed structure, i.e. integral action is placed in the direct path, while proportional action is positioned in the feedback path of the system. Thus, it provides improved system accuracy, while it maintains sufficient level of system relative stability. Due to presence of feedback in the system and controller structures, gradient of criterion function is computed through a recurrent procedure. Performance analysis of the speed servo-mechanism with the adaptive proportional and integral controller is performed in complex domain, using root locus techniques. The analysis indicates controller parameter influence on the system stability and reference tracking capability. Further, it shows that the adaptive controller yields zero steady state error and step disturbance rejection, as well as good system performance in the presence of modelling errors. Experiments, performed as reference tracking tasks, support the analysis.
带自适应PI控制器的速度伺服机构性能分析
推导并分析了一种用于电传动数字速度控制的自适应比例积分控制器。控制器参数的自适应是梯度下降过程。自适应控制器是由数字控制速度伺服机构的离散时间模型推导出来的。通过对系统信号和元件进行z变换,得到离散时间模型。所应用的控制器具有分布式结构,即积分作用置于系统的直接路径上,比例作用置于系统的反馈路径上。因此,它提供了改进的系统精度,同时它保持了足够的系统相对稳定性。由于系统和控制器结构中存在反馈,判据函数的梯度通过循环过程计算。利用根轨迹技术,在复域上对自适应比例积分控制器的速度伺服机构进行了性能分析。分析了控制器参数对系统稳定性和参考跟踪能力的影响。此外,它表明自适应控制器产生零稳态误差和阶跃干扰抑制,以及良好的系统性能,存在建模误差。实验,执行作为参考跟踪任务,支持分析。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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