ROBUST CONTROL OF A DC SERVOMOTOR BASED ON LINEAR ADAPTIVE CONTROL SYSTEM.

Kiyoshi Ohishi, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

DC servomotors are widely used today for industrial robots and machining tools. This paper proposes a new dc servomotor based on the linear adaptive control system which consists of a feedforward loop using external disturbance observer and an adaptively controlled low sensitivity compensator. The proposed adaptive control system is applied to the positioning control of dc servomotor to realize a servosystem which is robust to the parameter variations and external torque disturbance. The feedforward system used in the proposed adaptive control system is designed according to a stiffness specification in order to suppress the output error caused by the parameter variations and external torque disturbance. Experiments demonstrate that the proposed servomotor compensates quickly the variation of servomotor position due to parameter variations and external torque disturbances. 11 Refs.

Original languageEnglish
Pages (from-to)119-126
Number of pages8
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume108
Issue number1
Publication statusPublished - 1988 Jan

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Linear control systems
Adaptive control systems
Servomotors
Robust control
Torque
Industrial robots
Machining
Stiffness
Specifications
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

ROBUST CONTROL OF A DC SERVOMOTOR BASED ON LINEAR ADAPTIVE CONTROL SYSTEM. / Ohishi, Kiyoshi; Ohnishi, Kouhei.

In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), Vol. 108, No. 1, 01.1988, p. 119-126.

Research output: Contribution to journalArticle

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