Detail publikačního výsledku

Adaptive Feedforward Controller for a DC Motor Drive based on Inverse Dynamic Model with Recursive Least Squares Parameter Estimation

BRABLC M., SOVA V., GREPL R.,

Originální název

Adaptive Feedforward Controller for a DC Motor Drive based on Inverse Dynamic Model with Recursive Least Squares Parameter Estimation

Anglický název

Adaptive Feedforward Controller for a DC Motor Drive based on Inverse Dynamic Model with Recursive Least Squares Parameter Estimation

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

This article deals with the development of a simple adaptive controller for DC motor drives, based on the feed forward compensation of the drive's dynamic. Several variants of the drive's inverse model are proposed in both continuous and discrete form. The model's parameters are estimated online using the Recursive Least Squares method. A polynomial approximation filter (Savitzky-Golay) to determine noisy measured signal derivatives is used to estimate all of the inverse dynamic model's states. The resulting control algorithm is able to learn a complete model of the dynamics without any need for adjusting or setting user parameters. The paper also covers real experiments conducted to test the behaviour of the developed algorithm.

Anglický abstrakt

This article deals with the development of a simple adaptive controller for DC motor drives, based on the feed forward compensation of the drive's dynamic. Several variants of the drive's inverse model are proposed in both continuous and discrete form. The model's parameters are estimated online using the Recursive Least Squares method. A polynomial approximation filter (Savitzky-Golay) to determine noisy measured signal derivatives is used to estimate all of the inverse dynamic model's states. The resulting control algorithm is able to learn a complete model of the dynamics without any need for adjusting or setting user parameters. The paper also covers real experiments conducted to test the behaviour of the developed algorithm.

Klíčová slova

Rapid control prototyping, adaptive control, feedforward compensation, DC motor drive, Recursive least squares, online parameter estimation, Savitzky-Golay filter

Klíčová slova v angličtině

Rapid control prototyping, adaptive control, feedforward compensation, DC motor drive, Recursive least squares, online parameter estimation, Savitzky-Golay filter

Autoři

BRABLC M., SOVA V., GREPL R.,

Rok RIV

2017

Vydáno

09.12.2016

ISBN

9788001058831

Kniha

Mechatronika (ME), 2016 17th International Conference on Mechatronics

Strany od

146

Strany do

150

Strany počet

5

BibTex

@inproceedings{BUT132710,
  author="Martin {Brablc} and Václav {Sova} and Robert {Grepl}",
  title="Adaptive Feedforward Controller for a DC Motor Drive based on Inverse Dynamic Model with Recursive Least Squares Parameter Estimation",
  booktitle="Mechatronika (ME), 2016 17th International Conference on Mechatronics",
  year="2016",
  pages="146--150",
  isbn="9788001058831"
}