抄録
A new design method of simple discrete time adaptive servo system for positioning system is presented. It is assumed that the controlled system has a D.C. servo motor like characteristics with unknown inertia load and varying friction.
The proposed method is based on an adaptive pole assignment system designed for the simplified model of the D.C. servo moter.
In this paper, first, a simplified discrete time model of the D.C. servo motor is introduced.
Next, a stable adaptive pole assignment system with tracking compensator is designed for the model. Moreover, the robustness of the proposed adaptive control system is discussed for the case where the modeling error is exist.
Finally, the proposed method is successfully applied to a two-axis positioning system and the advantages of using adaptive controller are demonstrated by experimental results.
