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Design of a digital adaptive controller for electrical drives in industrial applications

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3 Author(s)
E. Bassi ; Dipartimento di Ingegneria Elettrica, Pavia Univ., Italy ; F. Benzi ; R. Scattolini

The adaptive control of an electrical drive intended for positioning applications is addressed. The regulator is based on a pole-placement technique and an online identification algorithm. The results of previous work by the authors are reviewed and a more accurate modeling is worked out by including a term accounting for the torque; to this aim a static feedforward element is designed and added to the control scheme. The limit on the motor current provided in actual systems is taken into account, and a desaturation strategy is proposed and tested. A further improvement of the performances is obtained by a dynamical change in the saturation limits. A number of simulations are presented to illustrate the performance of the system

Published in:

IEEE Transactions on Industrial Electronics  (Volume:39 ,  Issue: 2 )