基于自适应观测器的直驱电机扰动补偿控制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509408

V. Kroumov, A. Inoue

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引用次数: 0

摘要

提出了一种消除DD电机控制中未知干扰的自适应方案。该设计是基于在一个适当的稳定有理函数环上的植物模型的素分解。这种描述给出了一个简单的结构，其中不需要规范转换。采用自适应调节律识别补偿器的未知参数，消除干扰。并与现有的控制器进行了比较。

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Disturbance compensation control of direct drive motor using an adaptive observer

An adaptive scheme for cancellation of unknown disturbances in the control of an DD motor is proposed. The design is based on coprime factorization of the plant model over a ring of proper stable rational functions. This description gives a simple structure in which there is no need of canonical transformations. An adaptive adjusting law is used to identify the unknown parameters of the compensator cancelling the disturbances. Comparison between the proposed scheme and an existing controller is given.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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