Title :
High performance control of servomotors with low precision shaft encoder using instantaneous speed observer and adaptive identification of inertia moment
Author_Institution :
Dept. of Electr. Eng., Tokyo Univ., Japan
Abstract :
The technique to combine the instantaneous speed observer and the adaptive identification of inertia moment is proposed for high performance speed control of a servomotor using a low precision shaft encoder. The proposed system implies sensor fusion in the lowest level of the servosystem and integration of robust and adaptive control
Keywords :
adaptive control; identification; machine control; sensor fusion; servomotors; state estimation; velocity control; adaptive control; adaptive identification; high performance control; inertia moment; instantaneous speed observer; low precision shaft encoder; robust control; sensor fusion; servomotors; Adaptive control; Convergence; Electronic mail; Equations; Programmable control; Sampling methods; Servomotors; Shafts; Torque; Velocity control;
Conference_Titel :
Motion Control Proceedings, 1993., Asia-Pacific Workshop on Advances in
Print_ISBN :
0-7803-1223-6
DOI :
10.1109/APWAM.1993.316178
