Motor Delay Estimation with Disturbance Torque Compensation
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Solution Overview
Problem
Motor control systems with delays face instability and reduced responsiveness due to inaccurate delay estimation, especially when disturbance torque and delay time fluctuate, leading to steady state deviations.
Innovation Solution
A motor control device with a disturbance estimation unit and a delay estimation unit that separately estimate disturbance torque and delay using torque commands and feedback values, allowing for accurate delay estimation and correction of motor speed to maintain stability and responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If delay estimation is performed using command value and feedback value, then stable control is achieved, but delay estimation accuracy deteriorates when disturbance torque fluctuates
Solution Approach 1:
The patent segments the estimation process into two independent units: a disturbance estimation unit that estimates disturbance torque, and a delay estimation unit that estimates delay. By separating these previously coupled estimation functions, the delay estimation can be performed independently without being contaminated by disturbance torque fluctuations, thereby resolving the contradiction between control stability and estimation accuracy.
Solution Approach 2:
The disturbance estimation unit acts as an intermediary that processes disturbance torque information before it reaches the delay estimation unit. This intermediary layer filters out the harmful influence of disturbance torque from the delay estimation process, allowing accurate delay estimation while maintaining control stability.
2Reliability
If disturbance estimation is performed after delay estimation, then disturbance influence is considered, but delay estimation accuracy deteriorates due to unreflected disturbance information
Solution Approach 1:
The patent applies preliminary action by performing disturbance estimation before delay estimation. The disturbance estimation unit first estimates the disturbance torque, and this estimated disturbance information is then fed forward to the delay estimation unit. This preliminary processing ensures that disturbance information is properly accounted for before delay estimation occurs, resolving the contradiction between reliability and accuracy.
3Adaptability or versatility
If delay time fluctuates, then adaptability is improved, but delay estimation accuracy deteriorates leading to control instability
Solution Approach 1:
The patent implements dynamics by making the delay estimation unit adaptive to fluctuating delay conditions. The unit continuously estimates delay based on current command and feedback values, allowing it to dynamically adjust to changing delay conditions. Combined with the disturbance compensation mechanism, this enables accurate delay estimation even when delay time fluctuates, resolving the contradiction between adaptability and accuracy.
Data Source
AI summary
An object of the present invention is to provide a motor control device capable of estimating a delay with high accuracy even in a case where there is a fluctuation in disturbance torque or delay time and of suppressing the influence of the delay. For this end, the present invention includes a motor MTR, an ECU 2 that controls the rotation of the motor MTR, and an ECU 1 that sends a torque command to the ECU 2 based on a command value. The ECU 1 includes a disturbance estimation block 100 and a delay estimation block 200. The disturbance estimation block 100 estimates disturbance torque (τd) using a torque command input to the ECU 2 and a feedback value of the motor MTR. The delay estimation block 200 estimates a delay using a torque command output from the ECU 1, the feedback value of the motor MTR, and the disturbance torque (τd).