Publication detail

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.,

Original Title

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

Type

conference paper

Language

English

Original Abstract

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.

Keywords

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

Authors

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

Released

9. 12. 2016

ISBN

9788001058831

Book

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

Pages from

146

Pages to

150

Pages count

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"
}