위치 제어 시스템의 속도 측정 시간 지연을 고려한 부하 토크 보상기

Abstract

A load torque observer is constructed in the speed loop of the permanent magnet synchronous motor control for the purpose of increasing the position accuracy. But the accuracy of speed measurements decreases significantly in a zero speed region when an encoder is utilized. Therefore, it is not easy to obtain an accurate position control at standstill while a load is applied to the motor shaft. To improve performance of the speed loop, the load torque observer is normally utilized. But, measurement delay deteriorates the performance of the load torque observer. In this work an artificial delay and a phase lead compensator are added in the load torque observer. As a result the speed response is enhanced, leading to reduced overshoot in position error during the motion transient. Supporting simulation and experimental results are obtained.