Fast Adaptive Trajectory Tracking Control for a Completely Uncertain DC Motor via Output Feedback
Control Adaptable Rápido por Realimentación de Salida para Seguimiento de Trayectorias en un Motor de C. C. Completamente Desconocido
H. Sira Ramírez*, E. Barrios Cruz** and R. Márquez Contreras***
Departamento de Ingeniería Eléctrica, Cinvestav, Av. Instituto Politécnico Nacional, San Pedro Zacatenco, C.P. 07360, A.P. 14–740, México, D.F. 07300, México. E–mails: hsira@cinvestav.mx* ; ebarrios@cinvestav.mx** ; rmarquez@cinvestav.mx***.
]]> Article received on March 10, 2008
Abstract
An algebraic parameter identification method, developed for fast, on–line, computation of unknown linear system parameters, is here used for the fast adaptive output feedback control of a completely unknown dc motor, subject to constant perturbation load torques while solving a reference trajectory tracking task. An output feedback controller of the Generalized Proportional Integral (GPI) type, written in classical compensation network form, is proposed for the perturbed output trajectory tracking problem. The fast adaptation of system parameters is carried out, both, on the classical compensating network parameters and on the conformation of the feed–forward control input signal. Experimental results validate the effectiveness of the proposed approach.
Keywords: Algebraic identification, DC motors, Adaptive control.
Resumen
Utilizando el método algebraico para la identificación de los parámetros desconocidos en sistemas lineales se sintetiza un controlador adaptable rápido, implementado en línea, para el control de seguimiento de referencia de velocidad angular en un motor de corriente continua sujeto a una perturbación de carga constante. Para resolver el problema de seguimiento de salida en presencia de perturbaciones, se propone un controlador del tipo Proporcional Integral Generalizado (GPI) por retroalimentación de salida escrito en forma de red de compensación clásica. La adaptación rápida de los parámetros del sistema se lleva a cabo tanto en los parámetros que definen la red de compensación clásica como en la expresión de la señal de pre–compensación de entrada. El método propuesto se valida mediante resultados experimentales.
Palabras clave: Identificación algebráica, Motores de c.c., Control adaptable.
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