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首页> 外文会议>Polish Control Conference >The Use of a Torque Meter to Improve the Motion Quality at Very Slow Velocity of a Servo Drive with a PMSM Motor
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The Use of a Torque Meter to Improve the Motion Quality at Very Slow Velocity of a Servo Drive with a PMSM Motor

机译：使用扭矩计提高运动质量，以PMSM电机在伺服驱动器的非常缓慢的速度下提高运动质量

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摘要

The article shows that by using a torque meter in the servo structure, the quality of motion control can be significantly improved. The classic cascade structure controlling a servo drive with a PMSM motor when non-linear friction with a strong Stribeck friction occurs does not allow to achieve the accuracy of motion required in many applications. The proposed structure overcomes this problem, provides the required motion quality without the need to accurately identify friction characteristics. The second chapter of the article presents the mathematic model of the PMSM motor used during simulation experiments and its implementation in the Matlab/Simulink environment. Section 2.3 of the article presents the modification of the control structure using information from the torque meter and the structure of the correction block itself. The last part shows the waveforms obtained in the simulation for the classical and modified systems. The authors' attention focuses on the problem of precise control with minimum speeds of mechatronic systems, in which there is strong Stribeck friction and the presented paper is the result of work aimed at preliminary testing of a certain concept of modifying the structure of the control system.
机译：本文显示，通过在伺服结构中使用扭矩计，可以显着提高运动控制质量。当发生具有强大的STRIBECK摩擦的非线性摩擦时，使用PMSM电机控制伺服驱动器的经典级联结构不允许在许多应用中实现所需的运动精度。所提出的结构克服了这个问题，提供了所需的运动质量，而无需准确地识别摩擦特性。本文第二章介绍了在模拟实验中使用的PMSM电机的数学模型及其在Matlab / Simulink环境中的实现。本文第2.3节介绍了使用来自扭矩计的信息和校正块本身的结构的控制结构的修改。最后部分显示了在经典和修改系统的模拟中获得的波形。作者的注意力侧重于具有机电系统最小速度的精确控制的问题，其中有强烈的Stribeck摩擦，并且所提出的纸张是旨在初步测试对控制系统结构的某种概念的初步测试的工作结果。

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