DocumentCode :
2862752
Title :
Adaptive Position control of three degrees freedom platform
Author :
Taheri, Asghar ; Tarihi, Mohammad Reza
fYear :
2006
fDate :
24-26 May 2006
Firstpage :
1
Lastpage :
5
Abstract :
This paper describes the implementation of a hybrid self-tuning regulator for the positioning of motors in 3-degree of freedom table in image stabilizer. This system has three motors in yaw, pitch, and roll axis for control of table. The servo motors are permanent magnet dc motors in which no speed reducer is used. Experimental results obtained with three dc motors in yaw, pitch and roll axial. There are two innovative aspects of this work. First, parameter estimation is used to adapt the feed forward compensation terms instead of the gains of the feedback controller, as usually is the case in conventional indirect self-tuning regulators. Second, the complete adaptive controller has been implemented with C program and pc 1812 card and encoder card and motor driver for command the motors. In result one method with hybrid increase accuracy system, specially when input error signal is large and need to maximum speed control system
Keywords :
DC motors; adaptive control; feedforward; machine control; parameter estimation; permanent magnet motors; position control; servomotors; velocity control; C program; adaptive position control; encoder card; feed forward compensation; feedback controller gains; hybrid self-tuning regulator; image stabilizer; indirect self-tuning regulators; motor driver; motor positioning; parameter estimation; pc 1812 card; permanent magnet dc motors; servo motors; speed control system; three degrees freedom platform; yaw-pitch-roll control; Adaptive control; Control systems; DC motors; Feeds; Parameter estimation; Permanent magnet motors; Position control; Programmable control; Servomechanisms; Servomotors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
Type :
conf
DOI :
10.1109/ICIEA.2006.257376
Filename :
4025977
Link To Document :
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