scholarly journals Adaptive Control of D. C. Servo Motor System with Coulomb Friction

1984 ◽  
Vol 20 (7) ◽  
pp. 663-665 ◽  
Author(s):  
Katsutoshi TAMURA ◽  
Kunihiko ICHIKAWA ◽  
Kenji KOTAKI ◽  
Yasushi AMANO
Keyword(s):  
Adaptive Control ◽  
Coulomb Friction ◽  
Motor System ◽  
Servo Motor

Design of a Disturbance Accommodating Adaptive Control System and Its Application to a DC-Servo Motor System With Coulomb Friction

1988 ◽  
Vol 110 (4) ◽  
pp. 343-349 ◽  
Author(s):  
P. N. Nikiforuk ◽  
K. Tamura
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Coulomb Friction ◽  
Motor System ◽  
Position Control ◽  
Adaptive Controller ◽  
Analog Computer ◽  
Adaptive Control System ◽  
Servo Motor ◽  
Analytical Functions

This paper discusses the design of a model reference type of adaptive control system for a linear unknown plant with system and observation disturbances. The disturbances are assumed to be approximately expressed by step, sinusoidal, and other analytical functions. The design of a controller, called a disturbance accommodating adaptive controller (DAAC), which eliminates the effect of these disturbances at the plant output, is described. Two types of bias DAAC are given as examples and are applied to the adaptive control of a DC-servo motor system. The plant (the DC-servo system) consists of two unknown loads connected through an electrical clutch and Coulomb friction. The effect of the friction on the plant is considered as an unknown bias disturbance and the DAAC is implemented on an analog computer. Experimental results for the position control of the DAAC system are given.

Design of Nonovershoot MRACS With Application to D.C. Servo Motor System

1991 ◽  
Vol 113 (1) ◽  
pp. 75-81 ◽  
Author(s):  
K. Tamura ◽  
K. Ogata ◽  
P. N. Nikiforuk
Keyword(s):  
Adaptive Control ◽  
Motor System ◽  
Position Control ◽  
Input Sequence ◽  
Control Input ◽  
Servo Motor ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Existence Region ◽  
Model Reference Adaptive

Excessive overshoots in a transient response are undesirable in a model reference adaptive control system (MRACS) and have to be avoided in practical applications. This paper discusses the design of an MRACS with no overshoot. In this design a d-step ahead estimator is introduced to evaluate the expected maximum and minimum values of the plant output. According to these estimates, the adaptive control input is adjusted so that the output has no overshoot. For the estimator and the input adjustment an existence region of the unknown plant parameters must be known. It is obvious that the smaller the existence region is, the better is the estimation and adjustment, and, consequently, the MRACS performance. First, an algorithm which successively reduces the region is presented. An initial polyhedron region V(0), which includes the unknown parameters, assumed to be given. The volume of V(k) containing the unknown parameters is then successively reduced by a projection-type algorithm which uses the input and output of the plant. Next, the design of an MRACS is discussed in which this region V(k) plays an important role. The proposed controller generates an adaptive control input sequence which makes the plant output follow the reference output without any overshoot. The proposed MRACS was applied to the adaptive position control of a D.C. servo motor system with an unknown load. Experimental results demonstrate the usefulness of the proposed design.

Adaptive Velocity Control of DC Motors With Coulomb Friction Identification

1993 ◽  
Vol 115 (1) ◽  
pp. 95-102 ◽  
Author(s):  
Y. P. Yang ◽  
J. S. Chu
Keyword(s):  
Adaptive Control ◽  
Coulomb Friction ◽  
Dc Motor ◽  
Binary Sequences ◽  
Control Technique ◽  
Velocity Control ◽  
Servo Motor ◽  
Estimation Model ◽  
Estimated Parameters ◽  
Friction Parameter

A new dc motor control technique for the Coulomb friction compensation is proposed. The technique uses an adaptive velocity control scheme for a dc servo motor with on-line estimated parameters, including a Coulomb friction parameter, which is a combination of the Coulomb friction torque, motor time constant, moment of inertia of the motor, and sampling time of the discrete-time motor model. The estimation model used in the adaptive control process is validated off-line by a pseudo-linear regression algorithm for system parameters in a linear ARMAX model, and by adaptive Kalman filters for the Coulomb friction parameter described as pseudo-random binary sequences. The adaptive controller consists of a friction compensator and a PID controller, whose gains are adjusted adaptively in terms of estimated parameters. The proposed adaptive control law is implemented and tested on a microprocessor-based dc servo motor, and is applicable to many dc-motor-driven precision servo mechanisms. Experimental results are shown to be superior to those of conventional PID controls in terms of parameter fluctuation.

Composite adaptive control based on historical data for electro-hydraulic system driven by dual servo motor-pump with unknown disturbance

2021 ◽  
pp. 095965182199860
Author(s):  
Xiaofu Zhang ◽  
Guanglin Shi
Keyword(s):  
Adaptive Control ◽  
Hydraulic System ◽  
Historical Data ◽  
Tracking Performance ◽  
Load Force ◽  
Position Tracking ◽  
Servo Motor ◽  
Estimated Parameters ◽  
Unknown Disturbance ◽  
Composite Adaptive Control

This article presents a composite adaptive control method to improve the position-tracking performance of an electro-hydraulic system driven by dual constant displacement pump and dual servo motor named as a novel electro-hydraulic system with unknown disturbance. A composite adaptive controller based on backstepping method is designed to estimate the uncertainties of electro-hydraulic control system, including the damping coefficient and elastic modulus. In order to release the persistent excitation condition of conventional adaptive control, which is often infeasible in practice, a prediction error based on the online historical data is used to update the estimated parameters. Furthermore, a disturbance observer is used to estimate the disturbance including the unmeasurable load force, friction and other unmodeled disturbance. The experiment results are provided and compared with other methods to verify the effectiveness of the proposed method, and the results have indicated that the proposed method has a better position-tracking performance with the convergent estimated parameters.

Research and Implementation of Fractional Order Controller in AC Servo Motor System

2019 ◽  
Author(s):  
Xiaohong Wang ◽  
Likai Zheng ◽  
Thi Thu Giang Hoang ◽  
Zhifeng Pan ◽  
Xiaozhuang Zhou
Keyword(s):  
Fractional Order ◽  
Motor System ◽  
Servo Motor ◽  
Ac Servo ◽  
Ac Servo Motor ◽  
Fractional Order Controller
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