Adaptive Feedforward Controller for a DC Motor Drive based on Inverse Dynamic Model with Recursive Least Squares Parameter Estimation

被引：0

作者：

Brablc, Martin ^{[1
]}

Sova, Vaclav ^{[1
]}

Grepl, Robert ^{[1
]}

机构：

[1] Brno Univ Technol, Fac Mech Engn, Tech 2896 2, Brno 61669, Czech Republic

来源：

PROCEEDINGS OF THE 2016 17TH INTERNATIONAL CONFERENCE ON MECHATRONICS - MECHATRONIKA (ME) 2016 | 2016年

关键词：

adaptive control; feedforward compensation; DC motor drive; Recursive least squares; online parameter estimation; Savitzky-Golay filter; Rapid control prototyping;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This article deals with the development of a simple adaptive controller for DC motor drives, based on the feedforward compensation of the drive's dynamic. Several variants of the drive's inverse model are proposed in both continuous and discrete form. The model's parameters are estimated online using the Recursive Least Squares method. A polynomial approximation filter (Savitzky-Golay) to determine noisy measured signal derivatives is used to estimate all of the inverse dynamic model's states. The resulting control algorithm is able to learn a complete model of the dynamics without any need for adjusting or setting user parameters. The paper also covers real experiments conducted to test the behaviour of the developed algorithm.

引用

页码：146 / 150

页数：5

共 50 条

[41] Time Series Online Prediction Based on Adaptive Dynamic Adjustment Kernel Recursive Least Squares Algorithm
Han, Min
Ma, Junzhu
Kanae, Shunshoku
2018 NINTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2018, : 66 - 72
[42] Lyaponov Function based Simultaneous State and Parameter estimation in Excited DC Motor Drive
Beni Hamed, Salah
Ben Hamed, Mouna
Sbita, Lassaad
2014 INTERNATIONAL CONFERENCE ON ELECTRICAL SCIENCES AND TECHNOLOGIES IN MAGHREB (CISTEM), 2014,
[43] Latest-Estimation Based Hierarchical Recursive Extended Least Squares Algorithm for ARMAX Model
Wu, Ai-Guo
Liu, Shi-Wei
Dong, Rui-Qi
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 273 - 278
[44] Improving Recursive Dynamic Parameter Estimation of Manipulators by knowing Robot's Model integrated in the Controller
Ardiani, Fabio
Benoussaad, Mourad
Janot, Alexandre
IFAC PAPERSONLINE, 2022, 55 (20): : 223 - 228
[45] Recursive Least Squares Parameter Estimation Algorithms for a Class of Nonlinear Stochastic Systems With Colored Noise Based on the Auxiliary Model and Data Filtering
Wang, Longjin
He, Yan
IEEE ACCESS, 2019, 7 : 181295 - 181304
[46] Improved model-free adaptive control method using recursive least-squares estimation algorithm
Pham, Hoang Anh
Soeffker, Dirk
2020 EUROPEAN CONTROL CONFERENCE (ECC 2020), 2020, : 47 - 52
[47] Improved model-free adaptive control method using recursive least-squares estimation algorithm
University of Duisburg-Essen, Department of Dynamics and Control, Duisburg
47057, Germany
Eur. Control Conf. , ECC, (47-52):
[48] Two recursive least squares parameter estimation algorithms for multirate multiple-input systems by using the auxiliary model
Han, Lili
Wu, Fangxiang
Sheng, Jie
Ding, Feng
MATHEMATICS AND COMPUTERS IN SIMULATION, 2012, 82 (05) : 777 - 789
[49] Mechanical parameter identification of two-mass drive system based on variable forgetting factor recursive least squares method
Ke, Chen
Wu, Ai
Bing, Chen
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (02) : 494 - 503
[50] Robustness of PM brushless DC motor drive adaptive controller with reference model and signal adaptation algorithm
Crnosija, P.
Bjazic, T.
Krishnan, R.
Yang, H. Y.
2006 IEEE International Symposium on Industrial Electronics, Vols 1-7, 2006, : 16 - 21

← 1 2 3 4 5 →