Adaptive feedforward controller for a DC motor drive based on inverse dynamic model with recursive least squares parameter estimation
- Resource Type
- Conference
- Authors
- Brablc, Martin; Sova, Vaclav; Grepl, Robert
- Source
- 2016 17th International Conference on Mechatronics - Mechatronika (ME) Mechatronics - Mechatronika (ME), 2016 17th International Conference on. :1-5 Dec, 2016
- Subject
- Communication, Networking and Broadcast Technologies
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Mathematical model
DC motors
Feedforward neural networks
Finite impulse response filters
Low-pass filters
Torque
Heuristic algorithms
adaptive control
feedforward compensation
DC motor drive
Recursive least squares
online parameter estimation
Savitzky-Golay filter
Rapid control prototyping
- Language
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.