An Adaptive Control System to Load Inertia Variations

Abstract

To eliminate the influence of the load inertia variations in servomechanisms, the energy feedback method is introduced. In this method, the manipulating energy is taken as a local feedback signal for the compensation of the load inertia variations. The energy feedback control system is analyzed by the phase plane technique, simulated and computed on an analogue computer. The energy feedback control is based on the optimum nonlinear control, and is furnished with the adaptive characteristic to load inertia variations besides the latter. In the conventional optimum nonlinear control system, the switching line of the manipulated variable is fixed on the phase plane. In the energy feedback control system, however, the switching line is not fixed but calculated during the transient response from both the error and the operating energy which follows the load inertia variations of the system. Consequently, the system applying the energy feedback method shows a remarkably adaptive characteristic to the load inertia variations.