適応ゲイン則を用いた直流サーボモータのロバスト速度制御

抄録

The speed control ability of dc servomotors is affected by parameter variations and disturbance torque. In this paper, the robust speed control method for dc servomotors with the disturbance torque observer and a feedback controller is proposed. The disturbance torque observer is used for the compensation of parameter variations and disturbance. The feedback gain is adjusted in the aspect of stability by the adaptive gain law based on Lyapunov's direct method and is used to restrain the influence of estimation error for the disturbance observer.
Moreover, the robust current control scheme for a voltage source PWM inverter with disturbance observer is presented, since current control ability affects the control performance of dc servomotors. The validity of this control scheme is verified by numerical simulations and experiments.