DISTURBANCE OBSERVER-BASED MOTION CONTROL OF DIRECT DRIVE MOTORS

被引：126

作者：

KOMADA, S ^{[1
]}

ISHIDA, M ^{[1
]}

OHNISHI, K ^{[1
]}

HORI, T ^{[1
]}

机构：

[1] KEIO UNIV,DEPT ELECT ENGN,3-14-1 HIYOSHI,KOUHOKU KU,YOKOHAMA,KANAGAWA 223,JAPAN

来源：

IEEE TRANSACTIONS ON ENERGY CONVERSION | 1991年 / 6卷 / 03期

关键词：

DIRECT DRIVE MOTOR; DISTURBANCE OBSERVER; INVERSE DYNAMICS; PATH TRACKING CONTROL; FORCE CONTROL; ACCELERATION CONTROL; ROBUST CONTROL; PRECISE POSITION CONTROL;

D O I：

10.1109/60.84334

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

This paper proposes simple and high performance path tracking control and force control based on an acceleration control. To realize the acceleration control, the disturbance feedback is necessary. In this paper, the disturbance observer whose inputs are a current reference to the power converter and a position signal by simple computation works as if it were a disturbance detector. The control poles of the observer are varied In accordance with the velocity of the motor for precise positioning. The proposed method is applied to the linear synchronous motor, which is used for direct drive linear motor, and is tested. The precise and high performance path tracking control and force control are realized.

引用

页码：553 / 559

页数：7

共 11 条

[1] CONTROL OF LINEAR MULTIPLE INPUT-OUTPUT SYSTEMS [J].

GOPINATH, B .

BELL SYSTEM TECHNICAL JOURNAL, 1971, 50 (03) :1063-+

[2]

Kamiya S., 1990, Transactions of the Institute of Electrical Engineers Japan, Part D, V110-D, P117, DOI 10.1541/ieejias.110.117

[3]

KOMADA S, 1990, IEEE T IND ELECTRON, V37, P6, DOI 10.1109/41.45837

[4]

Komada S., 1987, Proceedings of IECON '87: 1987 International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.CH2484-4), P602

[5]

KOMADA S, 1989, IECON 89, VOLS 1-4, P623, DOI 10.1109/IECON.1989.69703

[6] CONVENTIONAL CONTROLLER-DESIGN FOR INDUSTRIAL ROBOTS - A TUTORIAL [J].

LUH, JYS .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1983, 13 (03) :298-316

[7] OBSERVERS FOR SYSTEMS WITH UNKNOWN AND INACCESSIBLE INPUTS [J].

MEDITCH, JS ;

HOSTETTER, GH .

INTERNATIONAL JOURNAL OF CONTROL, 1974, 19 (03) :473-480

[8]

Nakao M., 1987, IEEE T ROBOTIC AUTOM, V1, P326

[9]

Takakura S., 1989, P 15 ANN C IEEE IND, P421

[10]

UMENO T, 1989, PESC 89 RECORD, VOLS 1 AND 2, P945, DOI 10.1109/PESC.1989.48581

← 1 2 →