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检索条件"主题词=Model Reference Adaptive Control"

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A New State Estimator of PMSM Using adaptive Extended Kalman Filter

A New State Estimator of PMSM Using Adaptive Extended Kalman...

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International Conference on Frontiers of Advanced Materials and Engineering Technology (FEMET 2012)

作者： Ding, Xinzhong Zhang, Chengrui Yu, Lehua Li, Huxiu Shandong Univ Sch Mech Engn Jinan 250061 Shandong Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250061 Shandong Peoples R China

ISBN: (纸本)9783037853399

This paper presents a new permanent magnet synchronous motor (PMSM) drive technique using adaptive state estimator for high-performance motion control to estimate the instantaneous speed, position and disturbance load torque. In the proposed algorithm, the model reference adaptive control (MRAC) method is incorporated to identify the variations of inertia moment, and the identified inertia is used to adapt the extended Kalman filter (EKF), which is an optimal state estimator to provide good estimation performance for the rotor speed, rotor position and disturbance torque with low precision quadrature encoder in a random noisy environment. In addition, the disturbance rejection ability and the robustness to variations of the mechanical parameters are discussed and it is verified that the system is robust to the modeling error and system noise. Simulation and experimental results confirm the validity of the proposed estimation technique.

关键词： extended Kalman filter state estimator model reference adaptive control parameter identification motion control

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A Novel Functional Regression Based Estimation and control Algorithm

A Novel Functional Regression Based Estimation and Control A...

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American control Conference (ACC)

作者： Lei, Yu Kurdila, Andrew Virginia Tech Dept Aerosp & Ocean Engn Blacksburg VA 24060 USA Virginia Tech Dept Mech Engn Blacksburg VA 24060 USA

ISBN: (纸本)9781457710964;9781457710957

In this paper, a o novel strategy for a class of system identification problems is proposed. Similar to adaptive learning methods, the new algorithm is also built on a linearly parameterized model where system output is expressed as a linear combination of signals generated from measurements and system inputs. In contrast to existing methodology, the new method employs a set of functionals of the regressors instead of the regressors themselves to estimate the unknown parameters. The new adaptive learning algorithm is also applied to the state feedback and the output feedback of a standard model reference adaptive control (MRAC) structure. Stability and convergence properties of the new algorithm are studied in the this paper. Simulation results show that the new method exhibits a fast rate of convergence and the ability to converge even when the systems are not persistently excited. In addition, it is observed qualitatively in the simulations that the chattering effect in the system response and the control signal are suppressed in comparison to simulations using other conventional adaptive methods.

关键词： model reference adaptive control

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Tracking control for 2DOF Helicopter via Robust LQ control with adaptive Law

Tracking Control for 2DOF Helicopter via Robust LQ Control w...

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2nd Australian control Conference (AUCC)

作者： Watanabe, Yusuke Takami, Isao Chen, Gan Nanzan Univ Grad Sch Math Sci & Informat Engn Nagoya Aichi Japan Nanzan Univ Fac Informat Sci & Engn Dept Syst Design & Engn Nagoya Aichi Japan

ISBN: (纸本)9781922107633

In this study, a robust LQ control system with model reference adaptive control (MRAC) law is discussed. By adding MRAC law to the usual robust LQ control system, it is expected that the system output tracks to the reference signal even if there exist larger parameter perturbations that are not guaranteed in the robust LQ controller synthesis process. Through tracking to the reference signal, we expect that proposed system improves the robust control performance. The proposed system is synthesized by two-step approach. It is well known that if a controller is synthesized for a system with parameter perturbations, the tracking performance of the closed loop system is not as good as that of the closed loop with the nominal plant and a controller synthesized for the nominal plant. For this reason, a robust LQ controller is synthesized for a small perturbation, firstly. Then MRAC low is adopted for the closed loop with the plant and the robust LQ controller to improve the tracking performance when there exist large perturbations. LMI based stability analysis method for MIMO system is developed after Yang et al's method[6]. The effectiveness of the proposed method is verified by some experiments using a test-scale 2 Degree-of-Freedom (2DOF) helicopter.

关键词： Robust LQ control model reference adaptive control LMI analysis Polytopic Uncertainties MIMO Helicopter

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Modified model reference adaptive control for plants with unmodelled high frequency dynamics

Modified model reference adaptive control for plants with un...

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4th International Conference on Informatics in control, Automation and Robotics

作者： Yana, L. Neild, S. A. Wagg, D. J. Univ Bristol Dept Mech Engn Bristol BS8 1TR Avon England

ISBN: (纸本)9789728865849

in this paper we develop a modified MRAC strategy for use on plants with unmodelled high frequency dynamics. The MRAC strategy is made up of two parts, an adaptive control part and a fixed gain control part. The adaptive algorithm uses a combination of low and high pass filters such that the frequency range for the adaptive part of the strategy is limited. This reduces adaptation to unexpected high frequency dynamics and removes low frequency gain wind-up. In this paper we consider two examples of plants with unmodelled high frequency dynamics, both of which exhibit unstable behaviour when controlled using the standard MRAC strategy. By using the modified strategy we demonstrate that robustness is significantly improved.

关键词： model reference adaptive control robustness unmodelled dynamics frequency response technique

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Research on Predictive control for PMSM based on Online Parameter Identification

Research on Predictive Control for PMSM based on Online Para...

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38th Annual Conference on IEEE-Industrial-Electronics-Society (IECON )

作者： Wang Weihua Xiao Xi Tsinghua Univ Dept Elect Engn Beijing Peoples R China

ISBN: (纸本)9781467324212

Traditional PI controller has received a wide application for its simple structure and reliability. However, its proportion and integration parameter generally cannot be set too large to avoid overshoot. This restriction leads to degradation of dynamic performance, which is not expected in high-performance servo system. Therefore, searching for new control strategies is a trend to improve the dynamic performance at the same time to prevent appearance of overshoot. Predictive control strategy, which is based on the controlled object mathematical model, can achieve the theoretically fastest dynamic response. However, there is an inherent defect that it relies on the accurate mathematical model of the controlled object, which is usually difficult to obtain. Specific to high-performance servo system, real-time change of parameters of servo motor may occur, coupled with some non-ideal characteristics. All these factors restrict the predictive control strategy to play its best function. Aiming to improve the dynamic performance of permanent magnet synchronous motor servo system, this paper presents a predictive current control strategy based on on-line parameter identification of PMSM. model reference adaptive system (MRAS) is employed to identify the parameters of PMSM. Based on the recognition results, predictive control strategy is adopted to control the dq axis current of the permanent magnet synchronous motor. In this way, the interference of parameter error is eliminated and perfect dynamic performance of the current loop is expected. Simulation and experimental results show that the predictive control method proposed here achieves very excellent dynamic response without overshoot. In addition, the automatic recognition of parameters leads to good robustness of the whole system.

关键词： Permanent magnet synchronous machines control strategy Predictive control dynamic characteristics Parameter identification overshooting controlled object Servo systems parameter error Current rings Mathematical model control Methods model reference adaptive control PI control

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Position control of a permanent magnet DC motor by model reference adaptive control

Position control of a permanent magnet DC motor by model ref...

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IEEE International Symposium on Industrial Electronics

作者： Koksal, Muhammet Yenici, Fedai Fatih Univ Fac Engn Istanbul Turkey Arif Nihat Asya Tech Ind Sch Istanbul Turkey

ISBN: (纸本)9781424407545

model reference adaptive control (MRAC) is one of the various techniques of solving the control problem when the parameters of the controlled process are poorly known or vary during normal operation. To understand the dynamic behavior of a do motor it is required to know its parameters;armature inductance and resistance (L-a, R-a), inertia of the rotor (J(m)), motor constant (K-m), friction coefficient (B-m), etc. To identify these parameters, some experiments should be performed. However, motor parameters change under operation according to several conditions. Therefore, the performance of controller, which has been designed considering constant motor parameters becomes poorer. For this reason, a model reference adaptive control method is proposed to control the position of a do motor without requiring fixed motor parameters. Experimental results show how well this method controls the position of a permanent magnet do motor.

关键词： model reference adaptive control

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adaptive control of a Human-Driven Knee Joint Orthosis

Adaptive Control of a Human-Driven Knee Joint Orthosis

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Rifai, Hala Mohammed, Samer Daachi, Boubaker Amirat, Yacine Univ Paris Est Creteil IUT Creteil Vitry Lab Images Signals & Intelligent Syst LISSI Dept R&TEA 3956 F-94400 Vitry Sur Seine France

ISBN: (纸本)9781467314053

The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation doctor. The main advantage of this control law is the on-line parameters regulation allowing to ensure the best performance of the system. A Lyapunov-based analysis is performed to prove the input-to-state stability of the orthosis with respect to a bounded human torque. The performance of the system is then shown through some simulations.

关键词： model reference adaptive control

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MRAC for direct drive electronic-hydraulic servo system

MRAC for direct drive electronic-hydraulic servo system

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International Conference on Materials Science and Information Technology (MSIT 2011)

作者： Han, Lei Wang, Hongjie Li, Deyou Yao, Yang Harbin Inst Technol Sch Energy Sci & Engn Harbin 150006 Peoples R China

ISBN: (纸本)9783037853191

In order to improve the accuracy, stability and rapidity of response, the paper built the mathematic model, and designed the high order system following the low order model based on Popov Hyperstable theory. Then applied this control method and PID method in actual system, compared them in time domain response. The result approves that the system owns better rapid and stable characteristics, satisfying the requirement when the direct drive electronic-hydraulic position control system changes its conditions. Further, improves that the theory is correct, certificates that the MRAC is very adaptive to the direct drive electronic-hydraulic servo system.

关键词： model reference adaptive control Direct drive electronic-hydraulic servo system Time response Position control

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Design of switching adaptive laws for the state tracking problem

Design of switching adaptive laws for the state tracking pro...

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2012 UKACC International Conference on control, control 2012

作者： Wu, Caiyun Dimirovski, Georgi M. Zhao, Jun State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang llO8l9 China School of Engineering Dogus University TR-34722 Istanbul Turkey School FEIT SS Cyril and Methodius University MK-I000 Skopje Macedonia

ISBN: (纸本)9781467315609

In this paper, we address the issue of the state tracking control for model reference adaptive control systems. For a given plant with a known structure and unknown parameters, this problem can be solved by designing an adaptive law for traditional model reference adaptive control designs. In this paper, for a plant with finite fixed adaptive laws where none of them guarantees the states of plant track those of the reference model, there are not allowed to design other adaptive law. In this case, we formulate a switching mechanism between these adaptive laws to track the reference model. A sufficient condition is given for the problem to be solvable via the convex combination technique, and a switching law is designed. The theoretical derivations are illustrated by means of an example. © 2012 IEEE.

关键词： model reference adaptive control

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adaptive autopilot designs for improved tracking and robustness

Adaptive autopilot designs for improved tracking and robustn...

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AIAA Infotech at Aerospace Conference and Exhibit 2012

作者： Bhattacharyya, Sampriti Kumar, Kalmanje Krishna Nguyen, Nhan T. Department of Aerospace Engineering The Ohio State University Columbus OH 43201 United States Adaptive Controls and Evolvable Systems Intelligent Systems Division NASA Ames Research Center Mail Stop 269-1 Moffett Field CA 94035 United States Intelligent Systems Division NASA Ames Research Center Mail Stop 269-1 Moffett Field CA 94035 United States

ISBN: (纸本)9781600869396

The paper presents research done on adaptive autopilot designs to ensure safe flight under non optimal conditions. The traditional high gain adaptive control techniques give rise to high frequency oscillations that can excite unmodeled dynamics and lead to instability. To mitigate this problem, modifications can be added to the conventional model reference adaptive control (MRAC). In this paper, we mainly refer to two techniques in context of their application to an adaptive autopilot system: the Optimal control Modification (OCM), where a modification term is added to the model reference adaptive control (MRAC) to instill robustness and stability under high gain condition;and the Modified model reference adaptive control (MMRAC) in which the reference model is itself modified for smooth asymptotic tracking during transient as well as steady state by means of fast adaptation. Previous research has been done on inner loop adaptive control using the above said techniques. In this paper we mostly focus on implementation of an outer loop adaptive control system using OCM and MMRAC. © 2012 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： model reference adaptive control

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