Abstract
In servo systems, encoders are usually used to measure the position and speed signals of electric machines. But in a low speed range, the traditional M/T method has a larger time delay, which will cause an increase of the speed loop order and degradation of the speed loop performance. A method employed to reduce the delay of speed feedback by using a reduced-order Extended Kalman Filter (EKF) is introduced in this paper. The speed of the permanent magnet synchronous motor is estimated by the reduced-order EKF in a low speed range, which reduces the delay of speed feedback and extends the cutoff frequency of the speed loop to improve the dynamic performance of the servo system. In order to solve the issues that the traditional full-order EKF is sensitive to the inertia of the system and computationally complex, a composite load torque observer (CLTO) is proposed in this paper. The load torque and the friction torque are simultaneously observed by the CLTO. Additionally, the CLTO is used to reduce the order of the EKF, which reduces the sensitivity of EKF on inertia to enhance the robustness of the algorithm and simplifies the computational complexity. The feasibility and effectivity of the above method are verified by simulations and experiments.
Highlights
In recent years, the permanent magnet synchronous motor (PMSM) has been widely used in servo systems because of its high-power density, controllability, and ability to achieve a high-precision speed and position control
A reduced-order Extended Kalman Filter (EKF) is proposed to reduce the delay of speed feedback and extend the cutoff frequency of the speed loop to improve the dynamic performance of the servo system
Order EKFs are sensitive to the inertia of systems can be solved by the composite load torque observer (CLTO) based on the PI adaptive convergence method, which improves the robustness of the algorithm
Summary
The permanent magnet synchronous motor (PMSM) has been widely used in servo systems because of its high-power density, controllability, and ability to achieve a high-precision speed and position control. Reference [11] constructed a third-order EKF for speed feedback, and its velocity loop has a good dynamic response, but requires precise inertia. A reduced-order EKF is proposed to reduce the delay of speed feedback and extend the cutoff frequency of the speed loop to improve the dynamic performance of the servo system. The problem that full-order EKFs are sensitive to the inertia of systems can be solved by the CLTO based on the PI adaptive convergence method, which improves the robustness of the algorithm. Energies 2018, 11, x FOR PEER REVIEW order EKFs are sensitive to the inertia of systems can be solved by the CLTO based on the PI adaptive convergence method, which improves the robustness of the algorithm.
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