A robust adaptive controller for PM motor drives in robotic applications

Journal Article · Sun Jan 01 00:00:00 EST 1995 · IEEE Transactions on Power Electronics (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/63.368459· OSTI ID:6798694

Cerruto, E; Consoli, A; Raciti, A; Testa, A ^[1]

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1. Univ. of Catania (Italy). Dept. of Electrical, Electronic, and System Engineering

The paper deals with theoretical development and practical implementation of an adaptive speed and position regulator suitable for robotic applications. The proposed adaptive control scheme is characterized by a reduced amount of computation and is based on the Model Reference Adaptive Control approach to compensate the variations of the system parameters, such as inertia and torque constant. A disturbance torque observer is employed to balance the required load torque and reduce the complexity of the adaptive algorithm. Simulation tests of a robotic drive, including an Interior type Permanent Magnet Synchronous (IPMS) motor, are reported in order to compare the proposed control scheme with standard speed and position regulators. Experimental results, obtained from a prototype based on a commercial PC board, are also reported in order to practically evaluate the feasibility and the features of the proposed adaptive control scheme.

• OSTI ID: 6798694
• Journal Information: IEEE Transactions on Power Electronics (Institute of Electrical and Electronics Engineers); (United States), Vol. 10:1; ISSN 0885-8993
• Country of Publication: United States
• Language: English

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