Title :
Autocompensation of torque ripple of direct drive motor by torque observer
Author :
Matsui, Nobuyuki ; Makino, Tatsuo ; Satoh, Hirokazu
Author_Institution :
Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan
Abstract :
Since a direct drive motor (DDM) does not require a reduction gear, the drive system can be made simple, and therefore it is used in high-precision robot and machine tool applications. However, without reduction gear, a disturbance torque is directly reflected to the motor shaft, and a torque ripple generated by the motor is directly transmitted to the load, causing poor speed control characteristics. An improved torque control system for DDM with a permanent magnet rotor, equipped with a torque observer implemented by digital signal software, is proposed. The speed fluctuation can be fully removed with a torque feedforward loop
Keywords :
State estimation; compensation; electric drives; machine control; permanent magnet motors; power engineering computing; state estimation; torque control; digital signal software; direct drive motor; permanent magnet rotor; torque control system; torque feedforward loop; torque observer; torque ripple autocompensation; Character generation; Distributed decision making; Gears; Machine tools; Permanent magnet motors; Permanent magnets; Robots; Shafts; Torque control; Velocity control;
Journal_Title :
Industry Applications, IEEE Transactions on
