Adaptive forward identification and auto-tuning for motor velocity control

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

研究成果: Conference contribution

4 被引用数 (Scopus)


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.

ホスト出版物のタイトルEuropean Control Conference, ECC 2003
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2003 4月 13
イベント2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
継続期間: 2003 9月 12003 9月 4


Other2003 European Control Conference, ECC 2003
国/地域United Kingdom

ASJC Scopus subject areas

  • 制御およびシステム工学


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