SVIBOR - Project code: 2-07-280

MINISTRY OF SCIENCE AND TECHNOLOGY

Strossmayerov trg 4, HR - 10000 ZAGREB
tel.: +385 1 459 44 44, fax: +385 1 459 44 69
E-mail: ured@znanost.hr

SVIBOR

SVIBOR - Collecting Data on Projects in Croatia

Project code: 2-07-280


ADAPTIVE AND OPTIMAL CONTROL OF ELECTRICAL DRIVES


Main researcher: CRNOŠIJA, PETAR (7213)


Assistants
Type of research: basic
Duration from: 01/01/91. to 12/31/93.
Papers on project (total): 59
Papers on project quoted in Current Contents: 3
Institution name: Fakultet elektrotehnike i računarstva, Zagreb (36)
Department/Institute: Department of Control and Computer Engineering in Automation
Address: Unska 3
City: 10000 - Zagreb, Croatia
Communication
Phone: 385 (0)1 61 29 849
Fax: 385 (0)1 61 29 809
E-mail: zdenko.kovacic@fer.hr
Summary: Theme 1: "Model reference adaptive control with signal adaptation" An influence of a modified signal adaptation algorithm, state variable observer and adaptation (saturation) coefficient estimator on a reference model tracking error during a transient response and in a steady state was investigated. A simplified signal adaptation control algorithm with a reduced order referent model and with a reduced order estimator was developed and then carried out with analog integrated circuits and tested experimentally. Theme 2: "Model reference adaptive control with parameter adaptation" Optimization of coefficients of a simplified parameter adaptation algorithm was done by computer simulation. Possibilities for reduction of the reference model tracking error by using a reduced (second) order reference model and a simplified parameter adaptation algorithm, were investigated. Theme 3: "Fuzzy and model reference fuzzy adaptive control" A fuzzy control algorithm with coordinated performance of nonintegral fuzzy and PI controller was developed, tested by computer simulation and implemented in the microcomputer hardware. Model-reference based fuzzy adaptive control algorithms with signal and parameter adaptation were developed, tested by computer simulation and implemented in the microcomputer hardware. Model-reference based self-organizing fuzzy control algorithms were developed, tested by computer simulation and implemented in the microcomputer hardware. Theme 4: "Time optimal and adaptive control" The following algorithms were developed and tested by computer simulation: - Time optimal angular speed control with limitation of armature current maximum value of a thyristor converter-fed DC motor drive without an inner armature current control loop, - Time optimal thyristor converter current control with transitions from continuous to discontinuous mode of conduction and reverse, - Adaptation of nonlinear time optimal thyristor converter current control algorithm on armature resistance variations in the continuous mode of conduction, - Parameter adaptation of the linear time optimal thyristor converter current control algorithm with respect to gain coefficient variations in the continuous mode of conduction, - Self tuning time optimal adaptive control of servo systems by using reference model and sensitivity model. The following methods were developed for a purpose of time optimal and adaptive control of servo systems: - Parameter estimation of DC motor drives by using microcomputers, - Parameter synthesis of analog and digital time optimal controllers, - Simulation of thyristor converters within programming language C++ and software package Matrixx. Theme 5: "Closed loop control of hybrid step motor drives" A relation for average torque value and approximate algorithm for time optimal closed loop control of drives and servo systems with hybrid step motors, which involve phase current control, were derived and tested by computer simulation. A method for closed loop control of two-phase hybrid step motor drive by using a reconstructed rotor magnetic flux, was developed and tested by computer simulation. Theme 6: "Robust and fuzzy adaptive control in robotics" A software package for trajectory planning, modelling (direct and inverse kinematics, dynamics) and control of articulated robot arms was developed. An improved method of trajectory planning in the tool configuration frame, which ensures a more accurate approximation of the desired path, was developed. Fuzzy control algorithms for servo control of multiple degree of freedom robotic mechanisms were developed and tested by computer simulation. The ways of using fuzzy adaptive control algorithms in force control of a single degree of freedom robotic mechanisms were developed and tested by computer simulation.

Keywords: model reference adaptive control, time optimal adaptive control, sensitivity model of servo systems, fuzzy control, fuzzy adaptive control, control of thyristor converters, control of dc drives, control of hybrid step motor drives, control of PMSM drives, control in robotics

Research goals: Goals and expected contributions of the research are in development, simulation and experimental verification of the control algorithms for control of high-order systems (servosystems, electrical drives and process control) as following: model reference adaptive control with signal adaptation, model reference adaptive control with parameter adaptation, fuzzy and model reference adaptive fuzzy control, self-organizing fuzzy control, time optimal and adaptive control, optimal control and control by using electrical signals applied to hybrid step motors, robust and fuzzy adaptive control of robotic mechanisms. By using the developed algorithms suitable for microprocessor implmentation, improved dynamic characteristics of the high-order systems under consideration will be achieved, and consequently, maximal productivity and product quality within the flexible manufacturing environment is expected.

COOPERATION - INSTITUTIONS


  1. Name of institution: Gossudarstvennyj elektrotehničeskij institut
    Type of institution: University/Faculty
    Type of cooperation: Joint publishing of scientific papers
    City: Sankt Peterburg, Rusija

  2. Name of institution: The Bradley Department of Electrical Engineering "Virginia Tech"
    Type of institution: University/Faculty
    Type of cooperation: Joint publishing of scientific papers
    City: Blacksburg, USA
Other information about the project.
MZT Croatian language SVIBOR Alphabetic list Sorted on project code Sorted on institutions Search help
Ministry of
Science and
Technology		 Croatian
language		 Svibor
homepage		 Alphabetic
list		 Sorted on
project code		 Sorted on
institutions		 Search Help
Last update: 10/10/95
Information: svibor@znanost.hr