Motor Control Apparatus With Disturbance Observer and Phase Compensation
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Solution Overview
Problem
Conventional motor control systems require laborious parameter adjustments and lack robustness against changing inertia moments and mechanical resonance characteristics, making them inefficient and difficult to implement across various drive mechanisms.
Innovation Solution
A motor control apparatus with a triple-loop configuration, including a position control system, speed control system, and current control system, utilizing a disturbance observer with a resonance inhibition model to estimate disturbance torque and advance phase compensation, ensuring robust control without manual parameter adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional parameter adjustment methods are used for motor control systems, then the control system can be adapted to specific drive mechanisms, but the adjustment process becomes significantly complicated and laborious
Solution Approach 1:
The motor control apparatus performs self-identification of the moment-of-inertia ratio through automatic testing and calculation procedures. The control unit executes a series of operations including acceleration phases, deceleration phases, and period measurements to automatically determine the inertia ratio without requiring manual parameter adjustment, thereby eliminating the complicated and laborious adjustment process while maintaining adaptability to different drive mechanisms
Solution Approach 2:
The system automatically identifies and adapts to the specific moment-of-inertia ratio by changing control parameters based on the identified value. The control unit stores the identified inertia ratio and uses it to adjust control parameters, enabling the system to adapt to different drive mechanisms while maintaining optimal performance without manual intervention
2Adaptability or versatility
If the drive mechanism configuration changes during operation, then the system can handle different applications, but the control system loses robustness and requires re-adjustment of parameters
Solution Approach 1:
The control unit performs preliminary identification of the moment-of-inertia ratio before normal operation begins. By executing the identification procedure in advance and storing the identified value, the system prepares the optimal control parameters beforehand, ensuring robust control performance when the drive mechanism configuration changes during operation without requiring re-adjustment
Solution Approach 2:
The system uses feedback from the identified moment-of-inertia ratio to continuously optimize control parameters. The control unit monitors the inertia ratio and adjusts control parameters based on this feedback, maintaining robust control performance even when drive mechanism configuration changes occur during operation
3Measurement precision
If manual parameter adjustment is performed to achieve accurate control, then the control precision can be improved, but the time and labor required for setup increases significantly
Solution Approach 1:
The motor control apparatus automatically identifies the moment-of-inertia ratio through a programmed testing procedure that measures acceleration and deceleration phases. The control unit calculates the inertia ratio from these measurements and stores it for use in control operations, achieving accurate control precision without requiring manual parameter adjustment and significantly reducing setup time
4Adaptability or versatility
If the moment-of-inertia ratio is unknown or changing, then the system must be highly adaptable, but conventional control systems cannot maintain uniform response characteristics
Solution Approach 1:
The control unit automatically identifies the moment-of-inertia ratio and changes control parameters based on the identified value. By storing and using the identified inertia ratio to adjust control parameters, the system maintains uniform response characteristics even when the moment-of-inertia ratio is unknown or changing, achieving both adaptability and reliability
Data Source
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AI summary
A motor control apparatus includes a position detector to detect a position of a motor. A speed operator calculates a first speed of the motor. A position controller outputs a first speed command. A speed controller acquires a difference between the first speed command and a second speed of the motor to output a first torque/thrust command. A phase compensator includes a lowpass filter to advance a phase of the second speed, and acquires the first speed and the first torque/thrust command to output the second speed. An inertia variation inhibitor includes a disturbance observer estimating a disturbance torque/thrust. The inertia variation inhibitor acquires the first speed and a second torque/thrust command, and adds the disturbance torque/thrust to the first torque/thrust command to output the second torque/thrust command. A torque/thrust controller acquires the second torque/thrust command to control a motor torque/thrust.