Adaptive Speed Control of Hydraulic Rotary Drives

In many cases the design of speed control has to take into account the changing behavior of the closed loop in dependence of inertia and load. For example, if the actual moment of inertia J is smaller than considered in the controller design, instability may result. This study deals with the adaptation of the controller for timevariant or operating point dependent conditions. It will be shown, that with appropriate algorithms, it is possible to fit an adaptive controller for a fast dynamic servodrive by using a standard μ-processor.