Adaptive control system

摘要

A real time adaptive control capable of maintaining stable operation with changing inertia. The controller utilizes a pseudo-derivative feedback (PDF) type control wherein dynamic adjustment is achieved by adjusting only a single variable. The variable can be controlled as a function of the derivation of motor speed divided by motor current for adaptive control with changing inertia. Control may also be achieved as a function of motor speed divided by the integral of motor current over the same interval. In a digital implementation the integral of motor current the time required for a predetermined speed change provides effective control.