Control of Dr-300 Servo Using Multiple Models

The paper is concerned with the control of the nonlinear plant using multiple models. The DR-300 servo is single-input/single-output model which consists of a permanent magnet DC motor connected via clutch to a permanent magnet DC generator. The servo is connected to the PC through the Advantech multifunction card and controlled using Matlab/Simulink environment. The nonlinear dynamical system is represented by a set of locally valid sub models across the operating range. A controller is then designed for each sub model. Optimization of parameters of the validity function and local models is divided into two steps. While centers and weights of validity functions are detemined through the Johansen and Foss’s algorithm, the parameters of local models are obtained using the least-squares method The control strategy is to determine the current operating conditions at every instant and activate the corresponding controller or a mixture of controllers.