Adaptive forward identification and auto-tuning for motor velocity control

T. Kitade, Hiromitsu Ohmori, A. Sano, T. Miyashita, H. Nishida, Y. Todaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents a new on-line adaptive identification of physical model parameters by adjusting the parameters in the feedforward controller and feedback PI controller for a motor drive system. The proposed scheme is characterized by new set-up of a suitable reference model which generates signals needed to identify the physical parameters of a two-mass motor system, such as inertia moments of motor and load, shaft conductance, viscous friction terms proportional to motor velocity and squared velocity, and Coulomb friction. The adaptive algorithm not only can give the model parameters but also compensate for the unknown friction effects by adjusting the feedforward controller. Stability is also investigated via the ASPR property of the controlled system. The effectiveness of the proposed scheme is examined in simulation and experiment of speed control of a two-mass motor system.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3516-3521
Number of pages6
ISBN (Print)9783952417379
Publication statusPublished - 2003 Apr 13
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: 2003 Sep 12003 Sep 4

Other

Other2003 European Control Conference, ECC 2003
CountryUnited Kingdom
CityCambridge
Period03/9/103/9/4

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kitade, T., Ohmori, H., Sano, A., Miyashita, T., Nishida, H., & Todaka, Y. (2003). Adaptive forward identification and auto-tuning for motor velocity control. In European Control Conference, ECC 2003 (pp. 3516-3521). [7086587] Institute of Electrical and Electronics Engineers Inc..