Přístupnostní navigace
E-přihláška
Vyhledávání Vyhledat Zavřít
Detail publikace
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
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
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.
Klíčová slova
Rapid control prototyping, adaptive control, feedforward compensation, DC motor drive, Recursive least squares, online parameter estimation, Savitzky-Golay filter
Autoři
Vydáno
9. 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" }