Self-tuning control of brushless servo drive for a high performance tracking manipulator

摘要

In accurate and fast positioning applications such as IC packaging, conventional PID or lead-lag compensator algorithms lacks robustness in providing good and consistent performance. Due to machine and driver nonlinearities, the controller often suffers from detuning as a result of variations in system parameters. This paper presents an account of employing dual-rate self-tuning control on a brushless servomotor drive for a high performance tracking manipulator to overcome the problems mentioned above. Recursive instrumental variable estimation (RIVE) is used for online parameter estimation. The self-tuning scheme includes a PID controller with inertia and friction compensation for optimal tracking performance.