Optimization of a servo system with a referent model and inner parameter adaptation loop

摘要

A rather slow adaptation to parameter variations is achieved in those servosystems which contain a PI controlled inner control loop and the outer control loop with a referent model and parameter adaptation. This paper is concerned with involvement of the referent model and parameter adaptation in the inner control loop of the servo system, while keeping the PI controller in an outer control loop. A very fast adaptation was achieved by optimization of parameter adaptation algorithm coefficients for a given range of variations of a drive moment of inertia. An impact of a sampling interval and state variable estimator on the maximum value of a referent model tracking error during transient response has investigated.