Backstepping Approach of Adaptive Control, Gain Selection and DSP Implementation for AC Servo System

Abstract

Nonlinear adaptive backstepping control of AC servo system is developed. A systematic approach is presented to derive the new nonlinear control scheme. A digital control system is designed and implemented based on a low-cost DSP controller, TMS320 C32. The selection guideline for the control gains is presented. The control system can achieve satisf actory perf ormance in position tracking and load estimation.

Adaptive robust neural network controller for position tracking of AC servo drives

“…The controller scheme is shown in Fig.2 The angular position tracking error is denoted as: eo = 0d -0 (8) where 0d is the desired angular position. Differentiating (8) with respect to time to get the angular position tracking error:…”

“…developed an effective variable-structure robust controller based on the fuzzy logic mechanism which was large robust and insensitive to the external disturbances and noises. In [8], an adaptive back-stepping control of AC servo motor was introduced to solve the position tracking problem. In this paper, the control system is implemented in a low cost DSP controller, TMS320C32.…”

“…However, in these papers the stability was not guaranteed. On the other hand, the adaptive mechanisms with the proof of asymptotic stability in [6], [7], [8] and [11] were complex in practical applications.…”

Implementation of an Adaptive Robust Neural Network Based Motion Controller for Position Tracking of AC Servo Drives

“…In [7], Amin Suyitno et al developed an effective variable-structure robust controller based on the fuzzy logic mechanism which was large robust and insensitive to the external disturbances and noises. In [8], an adaptive back-stepping control of AC servo motor was introduced to solve the position tracking problem. In this paper, the control system is implemented in a low cost DSP controller, TMS320C32.…”

“…However, in these papers the stability was not guaranteed. On the other hand, the adaptive mechanisms with the proof of asymptotic stability in [6]- [8] and [11] were complex in practical applications.…”