A servo control system design using dynamic inversion |
| |
Affiliation: | 1. University of Bologna, Department of Electrical, Electronic and Information Engineering, Viale Risorgimento 2, 40138 Bologna, Italy;2. Vrije Universiteit Amsterdam, FEWEB (Faculty of Economics and Business Administration), De Boelelaan, 1105 Amsterdam, Netherlands |
| |
Abstract: | This paper presents an inversion-based approach to the design of a dc motor-position servo system. Specifically, using the recently developed transition polynomials, a dynamic inversion procedure is established to determine a feedforward command signal to achieve high-performance position transfers. It is shown how to improve a traditional proportional and derivative controller feedback scheme and how a coordinated feedforward/feedback design using the new approach further improves the servo performances. Moreover, the methodology can easily comply with a voltage saturation avoidance constraint. Experimental results on a standard test bench highlight the effectiveness of the dynamic inversion idea. |
| |
Keywords: | |
本文献已被 ScienceDirect 等数据库收录! |
|