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ADAPTIVE PARAMETER ESTIMATION AND SPEED CONTROL OF

DC MOTORS WITH MlCROCOMPUTER IMPLEMENTATION
Yee-Pien Yang and Jwu-Shu Chu
Department of Mechanical Engineering
National Taiwan University, Taipei, Taiwan 10764, R.O.C
r.. 20

Abstract
= 10
This paper proposes a speed control scheme with adaptively es- E.0
timated system parameters. The adaptive controller consists of 3
0 0
a friction compensator and a PIID controller, whose gains are ad- l-
justed on-line in terms of estimated paraters. The control law
is implemented and tested on a microprocessor-based dc servo I0
motor. Various experimental results are shown to be superior to
those of conventional PID controls, and are applicable to many a0
precision servo mechanisms. 20
I. Introduction input signal (volt)
Figure 1: Block diagram of adaptive speed control of a dc ser-
Many researchers have considered friction compensation tech- vomotor with friction compensation
niques for tracking and positioning control of servo mecha-
nisms[1,2,5,6}. This paper adddr a simple and compact sys- where the regression vector is
tem estimation model for the adaptive control of a dc servo
motor. This model represents system dynamics sufficiently in (k-1) =[w(k -1) v(k -1) sgn(w(k- 1))J, (4)
terms of uinknown parameters of various motor constants, vis-
cous friction and Coulomb friction. The adaptive controller is and 9(k) is an estimate of the unknown parameter
the combination of a PID controller and a friction compensator, O'= -a- b el (5)
whose gains are tuned simply according to three parameters esti-
mated adaptively. The three parameters account for all inherent where a and b are functions of motor parameters and c is the
first-order system dynamics, load variation, environmental dis- Coulomb friction parameter. This estimation model used in the
turbances and nonlinear frictions. Thus, the convergence rate adaptive control proce is validated off-line by a pseudo lin-
of parameter estimation and quick response of precise velocity ear regression algorithm for sytem parameters a and b in a
control can be easily achieved. linear ARMAX model, and by adaptive Kalman filters for the
Coulomb friction parameter c described as pseudo random bi-
2. Mathematical Modelling nary sequences[7].
The armature controlled dc servo motor was considered in our 3. Adaptive Controller
experiments. Its dynamics can be described [41 as a first-order
system The adaptive controller for the dc servo motor consists of an
Jcw + (b + KE/R)w = (K/R)u - T (1) on-line parameter estimator, a PID-bed adaptive control loop,
and a friction compensator. The unknown parameter vector 9
where J is the equivalent moment of inertia of the motor and of the predictor (3) is estimated by the usual recursive least-
load referred to the motor shaft, R is the armature resistance, squares algorithm [3j. The conventional digital PiD controller is
K is the motor torque constant, E is the back emf constant, v considered for its robust nature. Its transfer function is usually
is the applied armature voltage as the control input, w is the written as
angular velocity of the motor shaft, b is the equivalent viscous
friction coefficient- of the motor and load referred to the motor
shaft, and T is the Coulomb friction torque. Our off-line analysis H(z) =kp +kh (l -z1
_ ) + k,(-I
shows that Coulomb friction can be simply described as (6)
=(kp + k, + kj) z2-Bz
- Bz ++D
D
(T sgn(w(t)), w(t) > &
T- Tosgn(v), w(t) = O, ITo I < T. (2) where B = (k + 2k)/(k + k, + k4) and D = k,4/{kp + kX +
T.:gn(t), w(t) =01ITO f> T. k4). Thus the closed-loop transfer function for the system with
T2sgn(w(t))-, w(t) < 0, perfect friction compensation become.
where T. is a limiting statk friction, and To = Kv/R. The
asymmetry is investigated by an experiment on relationship be- I + H(z)G(z)
tween the voltage of the control input and the tachometer out- F(z - BZ + D) (7)
put shown in Fig. I. The major contribution to the deadzone is a( +- F + (&-FB)z+DF
static friction.
where F = &(k + k, + k4) and G(z) = 8/(z + f) is the lear
For adaptive control or pareter estimation problmse, (t) is part of the dc servo motor system model. The corresponding
usually expressed in a discrete-time predictor form: charcteristic equation is
W(k,9) = OrT(k 1li(k - I) (3) zs - (1 + a - F)z + (a - FB}z + DF = O. (8)
156
The closed-loop poles are assigned with equal distance to the
origin, so that the system has fast rise time and low overshoot to 500
step input and load disturbance. I this case, the characteristic E
equation has the following form: a._
0
(Z + p1)((Z p2)2 + p2) = 0 (9)
0
GP
where p2 = p2 + p2 for 1 > Pi,P2, p3 > 0. By comparing (9) with
the characteristic equation (8), the PID gains are tuned on-line. -5001
The total control law is thus a combination of the adaptive P)ID
gain and the friction compensation of the estimate E[egn(w(k))].
The closed-loop scheme of the adaptive controller is shown in time (sec.)
Fig. 2. Figure 4: Adaptive PID controller with friction compensation
(solid curve). (dashed curve: no friction compensation, dotted
4. Experiments curve: reference.)

The implementation of the adaptive controller with friction

compensator is set up with DC Modular Servo System MS150
of Feedback Instruments Limited, U.K. As shown in Fig. a
3, the whole sampled-data system consists of a dc motor- -W
tachogenerator unit, pre-a lifier, servo amplifier, attenuator, 4,
E ~~~.. ,P:::
low-pas filters for filtering the ripple and measurement noises, c
and a 16 bit PC with 12 bit ADC/DAC card for data transla-
1-
0

tion and conversion. Although friction is inherent in the motor a.

bearing, brush and gear chain, we further increase it by pressing

a plastic bar on the rough surface of a disk fixed on the motor
axle. The software sampling the motor outputs and calculating - I

0 5 10 115
the voltage inputs is written in Turbo-C. The MATLAB package
was used for the graphis. The sampling frequency is 100 Hz. time (sec.)
Figure 5: Adaptive estimation of stem parameters

5. Sulmmary and Conclusions

Figure 2: Block diagram of adaptive speed control of a dc
vonmtor with friction compensation
a simple and efficient method for controlling a servo mechanism
with stiction, Coulomb friction and viscous friction is presented.
Iu fact, different friction models exist in various servo systems.
The more knowledge on the friction is learned, the more accurate
the system is controlled by well-designed controllers. Further
study on controlling precision mechanism with various nonin-
earities and time-varying dynamics is potentially rewarding.
ser-
6. References
1. Canudas, C., Astrom, K. J. and Braun, K. 'Adaptive
Friction Compensation in DC Motor Drives," IEEE J. of
Robotics and Automation, Vol. 3, No. 6, pp.680-685, 1987.
2. Gilbart, J. W. and Winston, G. C. "Adaptive Compensa-
tion for Optical Tracking Telescope," Automatica, Vol.
an

10, pp.125-131, 1974.

16-bit PC *8253:timer
Figure 3: The experimental set up
Fig. 4 shows the response for the motor velocity with the adap-
tive PU) controller with adaptive friction compensation. In Fig.
5, the corresponding parameter estimates and converge to
a 6. Walrath-, C. D. "Adaptive Bearing Friction Compensation
steady state values, whike chng with different magnitudes
for different directios of the mtor angular velocity. The asym-
metry of Coulomb friction is justified. The overshoots on the
-curv when velocity reversals occur are predicted by oursim-
ple nonlin modl, these resemble the transition behavior from
the statk friction to the kineti friction.
3. Goodwin, G. C. and Sin, K. S., Adaptive Filtering, Pre-
diction and Control, Prentice-Hall, Englewood Cliffs, New
Jersey, 1984.
4. Kuo, B. C. and Tal, J. ed., Incremental Motion Control,
VoL I, DC Motors and Control Systems, SRL Publishing
Company, Champaign, Ilinois, 1978.
5. Nikiforuk, P. N. and Tamura, K. "Design of a Distrbance
Accommodating Adaptirve Control System and Its Applica-
tion to a DC-Servo System with Coulomb Friction," Tian-
actions of the ASME, Journa of Dynamic Sytcems, Mca-
surement and Control, Vol.110, No.4, pp.343-349, 1988.
Based on Recent Knowledge of Dynamic Friction," Auto-
matica, Vol. 20, pp.717-727, 1984.
7. Yang, Y.-P. and J.-S. Chu 'Identification of Coulomb Fri-
tion and Adaptive Velocity of DC Motors with Friction
Compensation," 14th National Conference on Automatic
Contrl, Hsin-Chw, Taiwan, R.O.C., pp83-592, Dec. 190

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