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

Jacob W F Cheung, Alexis W K Chung, Chow Norbert Cheung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

In accurate and fast positioning application such as IC packaging, conventional PID or lead-lag compensator algorithm lacks robustness in providing good and consistent performance. Due to machine and driver non-linearities the controller often suffers from de-tuning as a result of variations in system parameters. This paper presents an account of employing dual-rate self-tuning control on a brushless servo driver for a high performance tracking manipulator to overcome the problem mentioned above. Recursive Instrumental Variable Estimation (RIVE) is used for on-line estimation. The self-tuning controller includes a PID Controller with inertia and friction compensation for optimal tracking performance.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Power Electronics and Drive Systems
PublisherIEEE
Pages297-301
Number of pages5
Publication statusPublished - 1 Jan 1997
Externally publishedYes
EventProceedings of the 1997 2nd International Conference on Power Electronics and Drive Systems, PEDS. Part 2 (of 2) - Singapore, Singapore
Duration: 26 May 199729 May 1997

Conference

ConferenceProceedings of the 1997 2nd International Conference on Power Electronics and Drive Systems, PEDS. Part 2 (of 2)
Country/TerritorySingapore
CitySingapore
Period26/05/9729/05/97

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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