Title :
Suppression control method for torque vibration of 3-phase HB-type stepping motor utilizing feedforward control
Author :
Su, Tinghse ; Ishida, Muneaki ; Hori, Takamasa
Author_Institution :
Dept. of Electr. & Electron. Eng., Mie Univ., Tsu, Japan
Abstract :
Proposes a method to reduce the vibration of a three-phase HB-type (HyBrid) stepping motor with cogging torque by feedforward compensation control. A compensation signal to suppress the vibration of the motor frame is obtained by repetitive control, installing an online Fourier transformer and utilizing an acceleration sensor attached to the motor frame or an acoustic sensor such as a microphone placed close to the frame. The sensor is used only for the acquisition of the feedforward compensation data. The feedforward compensation signal at an arbitrary operating point is derived from the amplitude and phase data of the frequency components and the operating point data. Compensation data obtained by repetitive control is applied to the operating point, changed by a reference frequency and a load condition in the steady state. A compensation signal for a new operating point is be generated from compensation data by utilizing polynomial equation approximation and a linear interpolation method. The effectiveness of this proposed method is confirmed by experimental results
Keywords :
Fourier transforms; acceleration measurement; acoustic transducers; compensation; equations; feedforward; interpolation; machine control; polynomial approximation; stepping motors; torque; vibration control; 3-phase HB-type stepping motor; acceleration sensor; acoustic sensor; amplitude data; arbitrary operating point; cogging torque; compensation signal; data acquisition; feedforward compensation control; frequency components; linear interpolation method; load condition; microphone; motor frame; online Fourier transformer; phase data; polynomial equation approximation; reference frequency; repetitive control; steady state; torque vibration suppression control method; Acceleration; Acoustic sensors; Forging; Frequency; Micromotors; Microphones; Signal generators; Steady-state; Torque control; Vibration control;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972275
