| Summary: | 碩士 === 國立成功大學 === 電機工程學系碩博士班 === 91 === Motor speed control often relies on the use of the shaft speed as the feedback signal. Typically, the average speed is estimated by calculating the finite difference between two consecutive encoder readings. Such a method, however, is subject to sampling effect and encoder resolution, especially when the speed is low. In addition, the control performance depends on the variation of the motor parameters and load conditions. To account for the variations and low-speed characteristics, an adaptive Kalman filter is used in the thesis to estimate the instantaneous speed, equivalent disturbance torque, as well as motor mechanical parameters. This results in an adaptive proportional-integral control scheme for low speed motor control. By simulations and experiments, the proposed scheme is verified for the improvement of low speed control performance.
|
|---|
