Motor Control Apparatus for Three-Inertia Resonance Systems
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Solution Overview
Problem
Existing motor control systems are limited in their ability to enhance speed loop gain in three-inertia mechanical resonance systems, as they can only effectively suppress vibration components of a narrow band corresponding to a single resonance system, leading to restricted damping control in systems with two resonance systems.
Innovation Solution
A motor control apparatus that includes a speed estimator to estimate equivalent rigid body speed, a first feedback gain to calculate differential speed, a torque command generation unit to generate torque commands based on speed deviations, and a stabilizing compensator that modifies frequency characteristics to enhance the suppression of vibration components across multiple resonance systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If damping control is applied to suppress vibration components in a three-inertia resonance system, then the speed loop gain can be enhanced, but the control is limited to narrow frequency bands corresponding to single resonance systems
Solution Approach 1:
The patent divides the vibration suppression function into multiple independent damping control units, where each unit targets a specific resonance system. The first damping control unit suppresses vibrations of the first resonance system, while the second damping control unit suppresses vibrations of the second resonance system. This segmentation allows each unit to operate independently within its optimized frequency band, resolving the contradiction by enabling broad frequency coverage through multiple specialized components rather than a single general-purpose controller.
2Device complexity
If a single damping control unit is used, then the device complexity is reduced, but it can only suppress vibration components of a narrow band corresponding to a single resonance system
Solution Approach 1:
The control structure is segmented into multiple damping control units, each dedicated to a specific resonance system. This segmentation increases adaptability to handle multiple resonance bands while maintaining relatively simple individual unit structures. Each unit can be designed and tuned independently, which manages complexity through modularity rather than requiring a single complex universal controller.
Solution Approach 2:
The patent creates a multi-functional damping control system where multiple damping control units work together to provide comprehensive vibration suppression across different frequency bands. Each unit is universal in its ability to suppress vibrations within its targeted resonance system, and collectively they provide universal coverage for the entire three-inertia system, resolving the contradiction between simplicity and versatility.
3Speed
If the speed loop gain is enhanced in a three-inertia system, then the response speed improves, but vibration suppression becomes limited to narrow frequency bands
Solution Approach 1:
The vibration suppression function is segmented into multiple damping control units, each optimized for specific frequency bands corresponding to different resonance systems. This allows the speed loop gain to be enhanced across a broad frequency range by combining the effects of multiple units, rather than being limited to narrow bands. Each unit contributes to overall response speed improvement within its targeted frequency range.
Solution Approach 2:
The patent implements dynamic vibration suppression by using multiple damping control units that can be independently adjusted and optimized for different operating conditions and frequency bands. This dynamic approach allows the system to maintain high response speed across varying frequencies by activating or adjusting the appropriate damping units based on the resonance characteristics being encountered.
Data Source
AI summary
[Problem] To enhance a speed loop gain even in a three-inertia mechanical resonance system. [Solution] A motor control apparatus (100) for controlling a motor, includes: a speed estimator (6) configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to a motor model (4); a first feedback gain (Kd1) configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit (2) configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain (Kd1); and a stabilizing compensator (9) configured to obtain the first differential speed in parallel with the first feedback gain (Kd1), to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain (Kd1).