ADAPTIVE CONTROL OF D.C. ACTUATORS FOR ROBOTICS

This paper presents a model reference adaptive control method which is particularly appropriate in the control of electrical drives. The control algorithm has been developed taking into account both the control problems (such as the influence of a discrete control action on the behavior of a continuous system) and the hardware and software structures of the computing device, which is generally a multiple processor system in order to satisfy real-time requirements. This approach allows the realization of simple and modular microprocessor-based adaptive controllers. To evaluate the effectiveness of the adaptive control method, the paper presents the results of simulations which bave been carried out in the case of a D.C. drive and compares performances obtained with the adaptive controller and a P.I.D. regulator. To obtain from the simulations results which match with the actual behavior of the D.C. motor, its mathematical model takes into account the saturation of the magnetic care and the parameter variations.