Position-Dependent Repetitive Control for Speed Ripple Reduction of Ultrasonic Motor

Chen, Chun Lin; Tsai, Mi Ching

doi:10.3182/20140824-6-za-1003.01134

Cited by 1 publication

(2 citation statements)

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“…For example, consider a system withĴ = 1 × 10 −2 , Bˆ=1 × 10 −3 and the observer bandwidth ω TOB to be 100 × 2π, for n = 0.1; then, the resulting parameters from Equations (8) and (9) are K D_TOB = 5.6617 and K P_TOB = 355.7333. The Bode plot of H(s) is shown in Figure 3, which approximates to the first-order system.…”

Section: Disturbance Torque Observermentioning

confidence: 99%

“…2020, 10, x FOR PEER REVIEW 2 of 17 However, the lack of an internal model [7,8] of the cogging torque in the control loop will limit the estimation performance of the observer in practice. From the literature, the PBRC (position-based repetitive controller) (i.e., spatial-based or angle-based) [9] can be employed as an internal model of the cogging torque in observer design. As shown in Figure 1, this paper combines the design of MRDOB and PBRC as a novel speed and torque observer to achieve accurate disturbance estimation.…”

Section: Introductionmentioning

confidence: 99%

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Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM

Tsai

Cheng

2019

Applied Sciences

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In permanent magnet machines, the cogging torque caused by reluctance variations in the air gap may degrade the speed control performance in low speed and will undoubtedly limit its operational range. In order to reduce the cogging torque, this paper proposes a position-based repetitive control observer aiming at cogging torque estimation and further rejection. This new scheme of observer design possesses the capability of repeatedly learning the observed clogging torque in each rotation to achieve higher estimation accuracy. An online/offline feedforward compensation strategy that employs the forgetting factor principle and position-based average generates the cogging torque compensation lookup table learned from the position-based repetitive control observer. To verify the overall control performance of the proposed observed design technique, a hardware in the loop control device is employed, and then an experimental setup with a permanent magnet synchronous motor and its power drive was adopted.

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Section: Disturbance Torque Observermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%