Adaptive forward identification and auto-tuning for motor velocity control

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

Adaptive forward identification and auto-tuning for motor velocity control

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

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	European Control Conference, ECC 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3516-3521
Number of pages	6
ISBN (Print)	9783952417379
Publication status	Published - 2003 Apr 13
Event	2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom Duration: 2003 Sept 1 → 2003 Sept 4

Other

Other	2003 European Control Conference, ECC 2003
Country/Territory	United Kingdom
City	Cambridge
Period	03/9/1 → 03/9/4

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

@inproceedings{ebd79acf475d48a7b3e6386a5ae24713,

title = "Adaptive forward identification and auto-tuning for motor velocity control",

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.",

author = "T. Kitade and Hiromitsu Ohmori and A. Sano and T. Miyashita and H. Nishida and Y. Todaka",

year = "2003",

month = apr,

day = "13",

language = "English",

isbn = "9783952417379",

pages = "3516--3521",

booktitle = "European Control Conference, ECC 2003",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2003 European Control Conference, ECC 2003 ; Conference date: 01-09-2003 Through 04-09-2003",

}

TY - GEN

T1 - Adaptive forward identification and auto-tuning for motor velocity control

AU - Kitade, T.

AU - Ohmori, Hiromitsu

AU - Sano, A.

AU - Miyashita, T.

AU - Nishida, H.

AU - Todaka, Y.

PY - 2003/4/13

Y1 - 2003/4/13

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84949109370&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84949109370&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84949109370

SN - 9783952417379

SP - 3516

EP - 3521

BT - European Control Conference, ECC 2003

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2003 European Control Conference, ECC 2003

Y2 - 1 September 2003 through 4 September 2003

ER -

Adaptive forward identification and auto-tuning for motor velocity control

Abstract

Other

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this