DEVELOPMENT AND IMPLEMENTATION OF SELF-TUNING TRACKING CONTROLLER FOR DC MOTORS

A Self-Tuning control strategy for tracking applications of dc drives is proposed in this paper. By this technique, the rotor speed and/or position of a dc motor can follow any arbitrarily selected track (or trajectory). The developed control strategy is "adaptive" and "robust" - insensitive to system variations, such as load changes, noise and disturbances. This results in what is known as a "high performance" drive system, which is required in applications such as robotic, actuation and manipulation. The drive system developed in this paper is implemented and tested in the laboratory. The system is examined under various uncertainties such as load variations, noisy measurements and field disturbances. All lab tests confirm the "accuracy" and the "robustness" of the proposed tracking controller. The paper also shows how such a powerful controller can be implemented by off-the-shelf hardware and software, instead of using specially designed items that are often time consuming and costly. © 1990 IEEE