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首页> 外文期刊>IEEE Transactions on Industrial Electronics >A DSP-based adaptive controller for a smooth positioning system
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A DSP-based adaptive controller for a smooth positioning system

机译：用于平滑定位系统的基于DSP的自适应控制器

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摘要

The implementation of a self-tuning regulator for the positioning of a direct-drive servomotor is described. The servo motor is a permanent magnet DC motor in which no speed reducer is used. The auto-tuning regulator consists of two major loops. The inner loop contains a feedback (PD or PID) regulator with additional feedforward terms. The parameters of the feedforward compensation are adjusted by the outer loop, which contains an online parameter estimator. The estimator is based on a recursive least-squares equation, and the estimated parameters are the load inertia and viscous friction. This self-tuning regulator has been simulated with PC.MATLAB, and the results demonstrate the high performance of the scheme. Experimental results obtained with a small DC motor (Electrocraft E-576) are presented, and these results show good agreement with the digital simulation results. There are two innovative aspects to this work. First, parameter estimation is used to adapt the feedforward compensation terms instead of the gains of the feedback controller, as usually is the case in conventional indirect self-tuning regulators. Secondly, the complete adaptive controller has been implemented using a single-chip digital signal processor (DSP), which results in the reduction of system hardware and cost.
机译：描述了用于直接驱动伺服电机定位的自整定调节器的实现。伺服电机是永磁直流电机，其中不使用减速器。自整定调节器由两个主要环路组成。内部回路包含带有其他前馈项的反馈（PD或PID）调节器。前馈补偿的参数由外循环调整，外循环包含一个在线参数估计器。估计器基于递归最小二乘方程，估计的参数是负载惯量和粘滞摩擦。该自整定调节器已经用PC.MATLAB进行了仿真，结果证明了该方案的高性能。给出了用小型直流电动机（Electrocraft E-576）获得的实验结果，这些结果与数字仿真结果吻合良好。这项工作有两个创新方面。首先，参数估计用于适应前馈补偿项，而不是反馈控制器的增益，这在常规的间接自调谐调节器中通常是这种情况。其次，使用单芯片数字信号处理器（DSP）实现了完整的自适应控制器，从而降低了系统硬件和成本。

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