智能模型参考自适应控制在运动控制中的应用

IAS '95. Conference Record of the 1995 IEEE Industry Applications Conference Thirtieth IAS Annual Meeting Pub Date : 1995-10-08 DOI:10.1109/IAS.1995.530496

Thomas J. Rehm, Peter B. Schmidt

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引用次数: 6

摘要

本文介绍了在模型参考自适应控制领域所做的工作，并将其应用于一个运动控制实例。将MIT规则应用于植物惯性估计。惯性参数允许前馈和反馈增益进行最佳调谐。在惯性估计中，采用了速度二阶导数的命令加速度。

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Intelligent model reference adaptive control applied to motion control

This paper describes work that was performed in the area of model reference adaptive control applied to a motion control example. The MIT rule was applied to estimating plant inertia. The inertia parameter allows feedforward and feedback gains to be optimally tuned. The command jerk, the second derivative of the velocity was utilized in forming the inertia estimate.

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IAS '95. Conference Record of the 1995 IEEE Industry Applications Conference Thirtieth IAS Annual Meeting

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