EXPERIMENTS TOWARD MRAC DESIGN WITH INTEGRAL COMPENSATION FOR MOTOR-DRIVES

[[abstract]]In this paper, a model reference adaptive control (MRAC) with integral compensation for motor drives was proposed. The system's robustness and transient behavior were greatly improved by incorporating a switching controller together with an integral compensation to attenuate the influence due to external disturbance. Modifications were also proposed to alleviate the chattering due to the high-frequency switching activity in control efforts. Furthermore, integrator windup due to integral action under actuator saturation was also considered. Experiments were performed on a single-chip microcomputer to control a DC brushless servo drive with adjustable shaft inertia to demonstrate the effectiveness and applicability of the proposed controller.[[fileno]]2020214010014[[department]]動機