Robust Speed Control System Research Articles

推定負荷情報に基づく二慣性共振系のロバスト位置制御系の一設計法

This paper proposes a new robust load position servo system without mechanical vibrations and offset angles for use in industrial machines. Generally, industrial machines use sensors mounted on the actuator side because it is difficult to connect signal lines if the sensor is mounted on the load side. Therefore, the load position response does not reach the desired position owing to the effect of an external disturbance force, which is called offset angle. The proposed robust servo system uses the estimated load information as the effect of the external disturbance force is suppressed. The proposed position servo system includes a state disturbance observer and a robust speed control system and uses a coprime factorization controller. The control performance and effectiveness of the proposed robust control system based on the estimated information are confirmed by the experimental results.

외란 상쇄 관측기를 이용한 유도전동기의 부하 토오크 제어에 관한 연구

본 논문은 전동기에서 기계적인 파라미터의 변화와 함께 외란의 변화에 대하여 외란상쇄 피드포워드 루프 제어를 적용한 유도전동기의 벡터제어를 고려하였다. 제안한 시스템에서 부하토크는 유도전동기의 토크를 최소차원 상태관측기를 근거로 하여 추정한다. 최소차원 상태관측기를 통해 추정된 부하토크에 의해 토크 전류를 얻어내고 토크 전류분을 피드포워드 보상해 줌으로서 외란에 의한 영향을 상쇄시켜 외란이 유입되거나 부하가 가변되는 등의 조건에서도 안정되게 동작하는 강인한 속도제어 시스템을 실현할 수 있다. 본 연구에서는 속도 센서가 없이 검출된 전압과 전류에 의해 속도를 추정하여 사용 하므로서 신뢰도를 높일 수 있도록 하였다. 제시한 제어기의 타당성을 입증하기 위하여 Matlab Simulink를 이용하여 시뮬레이션을 수행하여 타당성과 안정성을 검토하였고, 이를 실제 시스템을 구성하여 ADMC300를 이용하여 실험을 수행한 결과 기존의 시스템에 비하여 강인한 시스템으로 구동됨을 증명할 수 있었다. In this paper, vector control to applied disturbance offset feedforward loop control for changing disturbances with various mechanical parameter is suggested. The proposed system estimate load torque based on induction motor torque using minimum diemension state observer. Because speed controller using state observer is used on condition of feedforward loop fur a torque, the robust speed control system realized. In this study, the proposed paper does to heighten reliability of system by presuming and use the speed by voltage and current that is detected without speed sensor. To prove the propriety of this paper, the various simulation carried out adequacy using a Matlab Simulink, and at the same time real system is made, using a ADMC300 digital signal processor, so it is proved. As the experimental result of embodying the system, the robust system is realized.

Corrections to "robust speed control system considering vibration suppression caused by angular transmission error of planetary gear"

Corrections to "robust speed control system considering vibration suppression caused by angular transmission error of planetary gear"

Robust speed control system considering vibration suppression caused by angular transmission error of planetary gear

This paper proposes a new robust speed control to suppress vibration caused by angular transmission error of planetary gears. For this purpose, this paper first constructs a new numerical simulation model of angular transmission error of planetary gear, which is confirmed by experimental data from a robot arm. Next, in order to suppress the vibration caused by angular transmission error, we propose a robust speed control system based on disturbance observer and coprime factorization. Numerical simulation results show that the proposed system regulates the angular speed of motor satisfactorily, and it suppresses the vibration caused by angular transmission error.

Robust Speed Control for Robot Arm Considering Angular Transmission Error of Gear

This paper proposes a new numerical simulation model of angular transmission error of strain wave gear, and designs a robust speed control system for the robot arm with this angular transmission error. The proposed numerical simulation model can confirm the vibration of the robot arm caused by this angular transmission error. It is very difficult for the conventional control system using both a PI controller and a state feedback to suppress the vibration of the robot arm completely. The proposed robust speed control system, which is a two-degrees-of-freedom control system based on disturbance observer, can suppress the arm vibration. The numerical simulation results show the proposed system well regulates the motor speed and suppresses the vibration of load speed.

Robust Control Based on Disturbance Observer and Polynomial Coefficient Approach for Mechanical System

This paper proposes a new robust speed control system based on disturbance observer and coprime factorization for mechanical systems. The proposed system takes account of large variation of inertia ratio. It has the two loop systems. The inner loop system is the state feedback and the state observer system, which is designed by coprime factorization. In this paper, the poles and parameter variation effect of inner loop system are newly determined by using the polynomial coefficient approach. The outer loop system based on disturbance observer satisfies the robust stability condition on parameter variation. The reference response easily defines the desired transfer function from the speed reference to the load speed. The numerical simulation results show that the proposed system well regulates the load speed and suppresses the torsional vibration phenomena.

An Approach to Robust Speed Control System with Acceleration Sensor for Linear Motor System with Inertia Perturbation.

As a linear motor is driven directly, the linear motor system has the problems of how to prevent the bad influence by the inertia perturbation on the performance such as command resonse and disturbance attenuation of the speed control system. Especially, when we apply the linear motor system to the table feed of a machine tool, it is important that we design the control system to consider the inertia perturbation of the system becase the linear motor has no decelerator generally.In this paper, first, we discuss the problem of the design of speed control systems without an acceleration sensor. Secondly, we propose the new speed control system with the acceleration sensor and its compensators with the proper 2-oder rational function in consideration of the inertia perturbation of the system with acceleration sensor. The characteristic roots of the closed-loop transfer function of the speed control system with the acceleration compensator is mapped in the complex plane freely. The disturbance attenuation and command responce of this propsed speed control system with the acceleration sensor are hardly influenced by the inertia perturbation of the system. Thirdly, we propose the speed control system without acceleration limiter because the speed control system does not need acceleration limit generally.

Robust speed control of IM with torque feedforward control

The authors describe a digital signal processor-based (DSP-based) robust speed control for an induction motor (IM) with the load-torque observer and the torque feedforward control. In the proposed system, the load torque is estimated by the minimal-order state observer based on the torque component of a vector-controlled IM. Using the load-torque observer, a speed controller can be provided with a torque feedforward loop, thus realizing a robust speed control system. The control system is composed of a DSP-based controller, a voltage-fed pulsewidth modulated (PWM) transistor inverter and a 3.7 kW IM system. An eccentric load with an arm and a weight is coupled to the IM and it generates the sinusoidal gravitational fluctuating torque. Experimental results show robustness against disturbance torque and system parameter change. >

Robust speed control of DC servomotors using modern two degrees-of-freedom controller design

The authors propose a robust speed control system for DC servomotors based on the parametrization of two-degree-of-freedom controllers. The servosystems can dramatically improve the characteristics of the closed loop systems, i.e. the disturbance torque suppression performance and the robustness to system parameter variations, without changing the command input response. The excellent control performances obtained during laboratory experiments by using a microprocessor-based controller are shown. >