Abstract
Pole-Zero Cancellation Speed Control With Variable Current Cut-Off Frequency for Servo Motors
Highlights
S ERVO motors have been widely applied in applications such as home appliances, robotics, and mobility devices because of their high closed-loop performance and reasonable cost
This system adopted the DC motors (DCMs) as the mechanical part owing to the simple structure and low cost
Speed servo motors with both the DCMs and brushless DCMs (BLDCMs) require the single-loop for the speed feedback whose regulation can be achieved by the conventional proportionalintegral (PI) controller
Summary
S ERVO motors have been widely applied in applications such as home appliances, robotics, and mobility devices because of their high closed-loop performance and reasonable cost. The parameter-independent acceleration observer and surface stabilizer were systematically designed as subsystems for the DOB-based control law, including the active damping term [7], [17] These extant solutions require the current cut-off frequency to be set as constant a constantly high-value covering the high speed cut-off frequency leading to the rapid speedtracking behavior (high speed cut-off frequency). The proposed solution addresses this problem by introducing a variable cut-off frequency for the inner loop with the following three contributions: 1) a variable cut-off frequency mechanism for the inner loop in the analytic form to make the high speed cutfrequency feasible as lowering the steady-state current cut-off frequency value leading to the current ripple reduction and improved relative stability, 2) a pole-zero cancellation current controller including the nonlinear DOB for improving the accuracy of variable cut-off frequency system implementation for the inner loop, and.
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