The Development of a Self-Tuning Motor Controller with On-Line Parameter Identification and Automatic Off-Line Static Friction Identification

• Main Authors: Wei-yu Tang, 湯惟宇
• Other Authors: Chen Hsieh
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/92079820712127149051

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 97 === For static friction identification, from Hsieh and Pan[1], there is a nonlinear spring in the static friction phase. So, use the equation that is represented by Hsieh and Pan[1] to fit the nonlinear spring curve via binary method. For on-line identification, Use estimated output and actual output to get error, and use gradient search method with weighting and gradient search method without weighting to improve the motor parameters. If the motor parameters change or the intial motor parameters are wrong, we will find and use on-line identification to decrease the error between the actual parameters and the estimated parameters. With simulation and experiments, verify the above method.