Title :
Disturbance torque compensated speed observer for digital servo drives
Author :
Kubo, Kenji ; Watanabe, Masahiko ; Kozawa, Fusaaki ; Kawasaki, Kyouichi
Author_Institution :
Hitachi Ltd., Ibaraki, Japan
Abstract :
A speed observer for digital servo drives is proposed. The observer is composed of an inverse system calculation and a minimal-order state observer The inverse system calculates disturbance torque directly and the state observer performs an instantaneous speed estimation using the calculated disturbance torque. Characteristics of the disturbance torque estimation are analyzed by computer simulations. The speed observer is superior to the conventional identity-type speed observer at the point of the disturbance torque regulation. Experiments for the speed control drive are performed using a digital-signal-processor-based servo controller. Stable speed control at very low speed and its robustness regarding the mechanical vibration characteristics are confirmed
Keywords :
electric drives; machine control; servomotors; state estimation; torque; velocity control; digital servo drives; digital-signal-processor-based servo controller; disturbance torque; instantaneous speed estimation; inverse system; mechanical vibration characteristics; minimal-order state observer; robustness; speed control; speed observer; Laboratories; Motor drives; Observers; Pulse amplifiers; Sampling methods; Servomechanisms; Servomotors; Tellurium; Torque; Velocity control;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149304