Adaptive Control of Servo Motor by MRAC Method

Author

Ehsani, M.S.

Author_Institution

Comp. Eng. Dept., Isfahan Univ., Isfahan

fYear

2007

fDate

9-12 Sept. 2007

Firstpage

78

Lastpage

83

Abstract

This paper describes the design of a multi input multi output (MIMO) non-linear Model Reference Adaptive controller (MRAC) system for the digital servo motor. The complete design is developed determining the rate of gradient adaptation to MRAC in this paper. The MIT rule is used in the original MRAC. The main goal is to follow the desired position set as square wave. The important role of computer aided- design tools is illustrated using MATLAB and associated toolboxes. The control algorithm is implemented using a Pentium computer running the lab-tech notebook control program. The adaptive controlled system satisfactorily controls set point changes in velocity and position.

Keywords

MIMO systems; control system synthesis; electric machine CAD; machine control; mathematics computing; model reference adaptive control systems; servomotors; MATLAB; MIMO; MRAC design; Pentium computer; computer aided-design tool; digital servo motor; lab-tech notebook control program; model reference adaptive controller; multi input multi output system; Adaptive control; Adaptive systems; Control system synthesis; Control systems; MIMO; Mathematical model; Programmable control; Servomechanisms; Servomotors; Velocity control; Direct algorithm; Emnulation; MIT rule; rate of gradient adaptation; sensitivity derivative; simulink model;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicle Power and Propulsion Conference, 2007. VPPC 2007. IEEE

Conference_Location

Arlington, TX

Print_ISBN

978-0-7803-9760-6

Electronic_ISBN

978-0-7803-9761-3

Type

conf

DOI

10.1109/VPPC.2007.4544102

Filename

4544102