Motor Control Phase Delay Compensation
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Solution Overview
Problem
Existing motor control devices face challenges in setting a high control gain due to phase delay compensation, with low-order delay element models causing phase lead issues and high-order models increasing processing time and limiting control gain settings.
Innovation Solution
A motor control device incorporating a phase compensating speed observer with a delay element model of optimal order, balancing phase delay compensation and implementation ease, using a second-order delay element model to improve control gain settings and reduce vibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a high-order delay element model is used to accurately compensate phase delay, then phase compensation effectiveness is improved, but processing time increases and control gain setting range narrows
Solution Approach 1:
The patent changes the order parameter of the delay element model from high-order to second-order, optimizing the balance between phase compensation accuracy and processing efficiency. This parameter optimization allows the system to achieve sufficient phase compensation while reducing computational burden and expanding control gain setting range.
2Ease of manufacture
If a low-order delay element model is used to reduce processing time, then implementation ease is improved, but phase lead occurs and phase compensation effectiveness deteriorates
Solution Approach 1:
The patent optimizes the model order parameter to second-order, which is sufficiently complex to accurately compensate phase delay without being so complex as to cause implementation difficulties. This optimal parameter setting prevents phase lead while maintaining ease of software implementation.
3Productivity
If the control gain is increased to improve response performance, then productivity is improved, but phase delay causes instability and limits the maximum usable gain
Solution Approach 1:
The patent implements a feedback mechanism using a second-order delay element model that accurately predicts phase delay characteristics. This feedback allows the control system to compensate for phase lag effects, enabling higher control gains to be used without causing instability, thus improving response performance while maintaining stability.
Data Source
AI summary
A motor control device according to an embodiment includes a first subtractor, a speed controller, and a phase compensating speed observer. The first subtractor subtracts a speed reference from a speed feedback signal to obtain a speed deviation. The speed controller receives the speed deviation and outputs a first torque reference. The phase compensating speed observer receives the first torque reference and a speed of a controlled object including a motor, and outputs the speed feedback signal. The phase compensating speed observer includes a delay element model having an integral element of an order optimally satisfying a setting condition based on a degree of easiness for implementation and a degree of usefulness for phase delay compensation of the speed feedback signal to the speed reference.