Motor Control Using Notch Filtering for Torque Vibration Suppression
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Solution Overview
Problem
Conventional motor control devices face challenges in effectively suppressing vibrations in motor torque due to angular velocity vibrations, particularly during sudden changes, leading to responsiveness deterioration and insufficient vibration suppression.
Innovation Solution
A control device comprising an angular velocity detection unit, a vibration component removal unit using a notch filter to remove specific band vibrations from the detected angular velocity, and a current command calculation unit to generate a drive current command, ensuring accurate motor control without impairing responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If averaging processing is performed on motor angular velocity to reduce vibration, then vibration suppression improves, but responsiveness deteriorates during sudden angular velocity changes
Solution Approach 1:
The invention extracts only the vibration component from the motor angular velocity signal using a vibration component calculation unit, rather than applying averaging processing to the entire signal. This is achieved by calculating the difference between the actual angular velocity and a smoothed version of it, thereby isolating only the oscillatory portion that needs to be suppressed. This extraction approach allows vibration suppression without compromising the responsiveness of the overall control system.
Solution Approach 2:
The angular velocity signal is segmented into two components: a smoothed base component (obtained through averaging) and a vibration component (obtained by subtracting the smoothed component from the actual signal). The vibration component is then used for correction purposes, while the smoothed component maintains responsiveness. This segmentation allows different processing strategies to be applied to different aspects of the signal.
2Object-affected harmful factors
If gain adjustment is performed on motor angular velocity to reduce vibration, then motor torque vibration decreases, but control accuracy may be compromised
Solution Approach 1:
The invention converts the harmful vibration component into a useful correction signal. By calculating the vibration component as the difference between actual angular velocity and smoothed angular velocity, the system transforms the problematic oscillations into a quantifiable error signal that can be used to adjust the torque command, thereby eliminating the need for arbitrary gain adjustments.
Solution Approach 2:
The vibration component calculation unit continuously monitors the angular velocity signal and calculates the vibration component in real-time. This calculated vibration component is then fed back to the torque command correction unit, which uses it to adjust the torque command. This closed-loop feedback mechanism ensures accurate vibration suppression while maintaining control precision.
Data Source
AI summary
A control device includes: an angular velocity detection unit that detects an angular velocity of a motor; a vibration component removal unit that removes a vibration component in a predetermined band from the angular velocity detected by the angular velocity detection unit by filtering; and a current command calculation unit that calculates a current command value of a drive current for driving the motor according to a torque command value and the angular velocity from which the vibration component has been removed by the vibration component removal unit.