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首页> 外文期刊>IEEE Transactions on Energy Conversion >Development and implementation of self-tuning tracking controller for DC motors
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Development and implementation of self-tuning tracking controller for DC motors

机译：直流电动机自整定跟踪控制器的开发与实现

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摘要

A self-tuning control strategy for tracking applications of DC drives is proposed. By this technique, the rotor speed and/or position of a DC motor can follow any arbitrarily selected track (or trajectory). The developed control strategy is adaptive and robust, i.e. insensitive to system variations, such as load changes, noise, and disturbances. This results in what is known as a high-performance drive system, which is required in applications such as robotics, actuation, and manipulation. The developed drive system was implemented and tested in the laboratory. The system was examined under various uncertainties such as load variations, noisy measurements, and field disturbances. All lab tests confirm the accuracy and the robustness of the proposed tracking controller. It is shown how such a powerful controller can be implemented by off-the-shelf hardware and software instead of by specially designed items that are often time consuming and costly.
机译：提出了一种用于跟踪直流驱动器应用的自整定控制策略。通过这种技术，DC电动机的转子速度和/或位置可以遵循任意选择的轨道（或轨迹）。所开发的控制策略是自适应且鲁棒的，即对系统变化（例如负载变化，噪声和干扰）不敏感。这导致了所谓的高性能驱动系统，这在机器人，致动和操纵等应用中是必需的。开发的驱动系统已在实验室中实施和测试。在各种不确定性（例如负载变化，噪声测量和现场干扰）下检查了系统。所有实验室测试均证实了所提出的跟踪控制器的准确性和鲁棒性。展示了如何通过现成的硬件和软件而不是通常耗时且昂贵的特殊设计的产品来实现这种功能强大的控制器。

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