Title :
Development and implementation of self-tuning tracking controller for DC motors
Author :
El-Sharkawi, M.A. ; Weerasooriya, Siri
Author_Institution :
Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA
fDate :
3/1/1990 12:00:00 AM
Abstract :
A self-tuning control strategy for tracking applications of DC drives is proposed. By this technique, the rotor speed and/or position of a DC motor can follow any arbitrarily selected track (or trajectory). The developed control strategy is adaptive and robust, i.e. insensitive to system variations, such as load changes, noise, and disturbances. This results in what is known as a high-performance drive system, which is required in applications such as robotics, actuation, and manipulation. The developed drive system was implemented and tested in the laboratory. The system was examined under various uncertainties such as load variations, noisy measurements, and field disturbances. All lab tests confirm the accuracy and the robustness of the proposed tracking controller. It is shown how such a powerful controller can be implemented by off-the-shelf hardware and software instead of by specially designed items that are often time consuming and costly
Keywords :
DC motors; adaptive control; electric drives; self-adjusting systems; DC motors; disturbances; high-performance drive system; load changes; noise; self-tuning tracking controller; system variations; Adaptive control; Control systems; DC motors; Noise robustness; Programmable control; Robots; Robust control; Rotors; System testing; Trajectory;
Journal_Title :
Energy Conversion, IEEE Transactions on