Proceedings of the Korean Society of Marine Engineers Conference (한국마린엔지니어링학회:학술대회논문집)
- 2000.05a
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- Pages.6-10
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- 2000
Spped Control of DC Motors Using Inverse Dynamics
역동력학을 이용한 DC 모터의 속도제어
Abstract
In this paper a methodology for designing a controller based on inverse dynamics for speed control of DC motors is presented. The proposed controller consists of a low-pass prefilter the inverse dynamic model of a system and the PI controller. The low-pass prefilter prevents high frequency effects from the inverse dynamic model. The model is characterized by a nonlinear friction model. The PI controller regulates the error between the set-point and the system output which is caused by modeling error disturbances and variations f parameters. The parameters of the model and the PI controller are optimized offlinely by genetic algorithm. The experimental results on a DC motor system illustrate the performance of the proposed controller.