A multiloop feedback control system supplemented by a complementary controller is used to improve the drive performance of a dc servo motor and reduce sensitivity to parameter variations, nonlinear effects, and load disturbances. A software-based adaptive current-loop controller has been implemented on a microprocessor-based digital PWM controller. Experimental results based on multimicroprocessor implementation are presented to illustrate improved response and robustness of a direct drive dc servo controller applied to a single-link robot manipulator.
|Number of pages||6|
|State||Published - 1 Jan 1988|
|Event||1988 International Conference on Industrial Electronics: Power Electronics, IECON 1988 - Singapore, Singapore|
Duration: 24 Oct 1988 → 28 Oct 1988
|Conference||1988 International Conference on Industrial Electronics: Power Electronics, IECON 1988|
|Period||24/10/88 → 28/10/88|