Abstract
In this paper a model reference type adaptive speed control system is designed for D. C. servo motor systems with coulomb friction. Conventional model reference adaptive control systems (MRACS) are not directly applicable to this design problem due to the presence of the friction.
A method of designing MRACS for linear continuous systems with stepwise disturbances is presented and a proof of all signals in the system is given. This method is applied to the design problem mentioned above.
An experimental equipment of MRACS is implemented based on the proposed method, where a D. C. servo motor with an unknown load is controlled plant and an analog computer is used as a adaptive controller and also as a reference model. The experimental results show that the proposed MRACS works effectively and compensates successfully the coulomb friction in the plant.
