Title :
VSS-type self-tuning control of direct-drive motor
Author :
Furuta, Katsuhisa ; Kosuge, Kazuhiro ; Kobayashi, Kenichi
Author_Institution :
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Abstract :
A self-tuning control based on the VSS principle is proposed and experimentally investigated for the control of a direct-drive motor with unknown static load and unmodeled dynamics. The designed control system achieves perfect tracking when parameters are accurately identified and suppresses sluggish motion in the transient period using a mismatch model. The controller is robust with respect to disturbances and the error of parameters. Its validity is confirmed through experiments
Keywords :
electric drives; electric motors; self-adjusting systems; variable structure systems; controller; direct-drive motor; mismatch model; self-tuning control; static load; variable structure system; Actuators; Adaptive control; Control engineering; Equations; Gears; Manufacturing; Motion control; Parameter estimation; Sampling methods; Variable structure systems;
Conference_Titel :
Industrial Electronics Society, 1989. IECON '89., 15th Annual Conference of IEEE
Conference_Location :
Philadelphia, PA
DOI :
10.1109/IECON.1989.69646
