An adaptive approach, using a PD (proportional-derivative) controller, to control the speed of DC servomotors is proposed. The terms of the difference equation that describe the actual closed-loop system of a DC servomotor are equated to the corresponding terms in the difference equation of the ideal model of the system. This technique does not introduce any nonlinearities into the system which might result in instability and it does not require a weighting factor to control the rate of the adaptation. Parameters that will achieve desired system performance are deduced.
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