Abstract
Abstract A new approach to the armature current control of a thyristor driven DC-motor, based on robust pole-placement concepts, is proposed. The principal difficulty in this control problem arises due to the two different conduction modes of the current. As long as the current is continuous the armature may be modelled practically as a first order system, but as the current becomes discontinuous it exhibits nonlinear gain behaviour. These plant variations are classicaly compensated with a dual-mode adaptive current controller. It will be shown that the proposed scheme can substitute with success the old one. Moreover, because the robust controller has fixed structure and coefficients, independently of the current operation mode, its realization is simpler than that of a dual-mode adaptive controller. Simulation as well as experimental results are presented.
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