AUTOCOMPENSATION OF TORQUE RIPPLE OF DIRECT DRIVE MOTOR BY TORQUE OBSERVER

被引：77

作者：

MATSUI, N

MAKINO, T

机构：

[1] Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Nagoya

来源：

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS | 1993年 / 29卷 / 01期

关键词：

Direct drive motor (DDM) - Torque feedforward loop - Torque observer - Torque ripple autocompensation;

D O I：

10.1109/28.195906

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Since a direct drive motor (DDM) does not require a reduction gear, the drive system can be made simple, and therefore, it is used in high precision in robot and machine tool applications. However, without reduction gear, a disturbance torque is directly reflected to the motor shaft, and a torque ripple generated by the motor is directly transmitted to the load. These two disturbances give poor speed control characteristics. For this reason, DDM requires more accurate torque control than the conventional ac servomotor. The proposed torque control system for DDM with a permanent magnet rotor is equipped with a torque observer implemented by software of a digital signal processor. The speed fluctuation against a disturbance can be fully removed with a torque feedforward loop.

引用

页码：187 / 194

页数：8