| Summary: | 碩士 === 國立交通大學 === 機械工程系所 === 98 === In practice, the dynamic performance of PMSM (Permanent Magnet Synchronous Motor) servo driver is influenced by uncertainties of inertia variation and external load disturbance, both would degrade performance seriously. For several industry applications, there are inevitably existed some kind of backlash and stress which would deteriorate original machines. When PMSM join to load of mechanisms, the system of inertia would be changed. In order to satisfy the high performance for speed tracking and load disturbance compensation, accurate values of mechanical parameters are necessary. Even if it was seen on datasheets, moment of inertia should be identified again in the control scheme. As the system of inertia is identified accurately, we use the information of the estimated parameter to adjust the disturbance observer reasonably.
This paper proposed an integrated control algorithm which a full order observer to estimate the instant disturbance and online system inertia identification by EKF (Extended Kalman Filter) to auto-tune the disturbance observer and speed PI controller. This control system was tried to ensure system stable in different actual situations.
Due to the development of DSPs (Digital signal processors), that can execute accurate computations in short sampling time. The experiment was implemented by DSP platform, and the computer simulation of this paper was performed by the software Matlab/Simulink.
|
|---|
