Naslov
Adaptivno upravljanje električnim pogonima u robotici primjenom referentnog modela
(Model reference adaptive control of electric drives in robotics)

Autori
Crnošija, Petar ; Kovačić, Zdenko ; Ban, Željko ; Bogdan, Stjepan ; Mujanović, Abdurahman

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Zbornik radova 40. jubilarnog godišnjeg skupa KoREMA / - Zagreb, 1995, 492-497

Skup
40. jubilarni godišnji skup KoREMA

Mjesto i datum
Zagreb, Hrvatska, 19.04.1995. - 21.04.1995

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Domaća recenzija

Ključne riječi
adaptivno upravljanje s referentnim modelom, istosmjerni pogoni, robotika
(model reference adaptive control, DC drives, robotics)

Sažetak
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.

Izvorni jezik
Hrvatski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA