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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
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" }