A ROBUST ADAPTIVE CONTROLLER FOR PM MOTOR-DRIVES IN ROBOTIC APPLICATIONS

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.