New approaches to selected problems of precise speed and position control of drives

Abstract

The paper reviews the literature in the field of electric drives control, published in the years 2010 -2012. Attention is focused on three selected themes: torque and force ripple elimination for converter controlled drives, friction identification and compensation, damping of torsional vibrations. These problems are critically important, especially for servo drives used in robots and machine tools.

Iterative method of measurement with a given accuracy for angular velocity errors

“…For the ∆ω i calculating with a new trimming frequency and defining the next trimming frequency we write equations (4)(5)(6)(7) in general form:…”

“…For the methods implementation it is essential to measure continuously the electric drive ∆α angular error with the help of AEDU, and accurately measure the ∆ω angular velocity error, which is one of the most serious challenges of the electric drive control [6]. To determine the angular velocity error during acceleration and deceleration modes the indirect method of determining the rotation frequency error is proposed based on the logic processing of the mutual order of reference-frequency pulses f ref and feedback pulses f fb [7].…”

Application of the modified fuzzy Kalman filter to states estimation of the two-mass system

“…(1) where ω1, ω2 -are the speed of motor and load side respectively, me, ms, ml are electromagnetic, coupling and load torques, T1,T2 mechanical time constant of the motor an load side and Tc is stiffness time constant. The cascade control structure used in the paper has two major loops: the electromagnetic torque loop and speed control circuit.…”

“…They decrease the control performance of the plant, influence its reliability in a negative way [1]- [6]. What is more, torsional vibrations can even cause the failure of the whole drive system.…”

Application of fuzzy Kalman filter in adaptive control structure of two-mass system

“…This is particularly important in the case of servo systems or industrial robot drives [1] - [8] . In many mechatronic applications, there are additional factors deteriorating the quality of work of the control structures such as non-linear elements, the variability of the system parameters during operation, or complex mechanical part of the drive.…”