アダプティブフィードフォワード制御を用いた速度および位置制御システム

抄録

This paper considers the use of an adaptive feedforward controller for both a speed control system and a positioning system with a DC servo motor. The parameters of the feedforward controller are adjusted by an adaptation algorithm, the objective of which is to make the feedforward controller a dynamic inverse of the plant. Moreover, an adaptive disturbance compensator is used, and its parameter is adjusted by the algorithm. The error between the desired output and actual output is used as the adaptation error signal as well as the input to the nonadaptive feedback controller. After the adaptive process is completed, the input to the motor is no longer supplied by the feedback controller but by the feedforward controller. The stability of the proposed adaptive control systems is analyzed and experimentally verified.