Model reference adaptive control of the dc motor configured within a close loop velocity system
Castle, Darren P.
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Model reference adaptive control (MRAC) can be applied to either variable magnetic flux or constant magnetic flux dc motors. This application focuses on the dc motor configured within a close loop velocity system. The problem of varying steady state gain, and the effects of constant load, linear load, and fluctuating load on the close loop velocity response are compensated by the MRAC system. The controller is a digital design featuring a one tap adaptive filter which can be trained on line by the input command signal, proving adaptation for a wide variety of command signals and loads conditions. Real time development is accomplished on the Modular Servo System MS 150, featuring a variable flux dc motor. The digital controller is implemented by the SPROClab development system, which features general digital signal processors with full I/O support