E. Cerruto et al., A ROBUST ADAPTIVE CONTROLLER FOR PM MOTOR-DRIVES IN ROBOTIC APPLICATIONS, IEEE transactions on power electronics, 10(1), 1995, pp. 62-71
The paper deals with theoretical development and practical implementat
ion of an adaptive speed and position regulator suitable for robotic a
pplications. The proposed adaptive control scheme is characterized by
a reduced amount of computation and is based on the Model Reference Ad
aptive Control approach to compensate the variations of the system par
ameters, such as inertia and torque constant. A disturbance torque obs
erver is employed to balance the required load torque and reduce the c
omplexity of the adaptive algorithm. Simulation tests of a robotic dri
ve, including an Interior type Permanent Magnet Synchronous (IPMS) mot
or, are reported in order to compare the proposed control scheme with
standard speed and position regulators. Experimental results, obtained
from a prototype based on a commercial PC board, are also reported in
order to practically evaluate the feasibility and the features of the
proposed adaptive control scheme.