hrvatski

Adaptivno upravljanje električnim pogonima u robotici primjenom referentnog modela

Model reference adaptive control methods and ways of their applications in control of robotic drives are considered. Synthesis procedures of parameter, signal and fuzzy adaptation control algorithms are described. These algorithms use simplified second-order reference model and the errors of only two state variables, a measured output signal and its derivative (differential). The simplified adaptive control structure and methods have been applied to a permanent magnet synchronous motor drive. The coefficients of parameter and signal adaptation algorithms are determined by computer simulation and optimization. The simulation results indicate that an usage of simplified adaptive control schemes can provide a very good adaptation, and in case of using a signal adaptation, also a very fast adaptation for three times in magnitude larger changes of the moment of inertia.

adaptivno upravljanje s referentnim modelom, istosmjerni pogoni, robotika

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