Perfect Tracking Control of Servo Motor Based on PWM Hold

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Presentation transcript:

Perfect Tracking Control of Servo Motor Based on PWM Hold ~new developments of high-speed position control~

State equation of plant PWM hold [A. Kawamura 1987] PWM pulse State equation of plant Discrete as DT is control input T: sampling period E: output voltage

with decoupling control Plant model of SPMSM 　with decoupling control dq model of SPMSM

Perfect Tracking Control Structure of PTC Inverse System of Plant Multirate Feedforward Control Feedback Control Realize stable inverse system of plant by multirate control Nominal plant：perfect tracking on sampling period Feedback control suppresses disturbance and plant shift

Inverter DSP (PWM hold) SPMSM PTC of SPMSM dq-model Based on PWM Hold

Simple Method（sine-triangle PWM） Precise Method（space-vector PWM） PWM pulse of 3-phase inverter Simple Method（sine-triangle PWM） Precise Method（space-vector PWM）

Simulation results Conventional 1 ZOH discrete model（2-order model） Proposed 1 PWM hold discrete model（simple method） Proposed 2 PWM hold discrete model（precise method）

Experiment result Only 10 carrier periods ! (Carrier frequency: 500 Hz) Conventional 1 ZOH discrete model（2-order model） Conventional 2 ZOH discrete model（3-order model） Proposed 1 PWM hold discrete model（simple method） Proposed 2 PWM hold discrete model（precise method）