Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications
Position control of PMSM using jerk-limited trajectory for torque ripple reduction in robot applications
复制标题
使用加加速度限制轨迹进行 PMSM 位置控制，以减少机器人应用中的扭矩脉动
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
C. Won
中科院分区：
文献类型：
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作者：
Soo;Chi;Jang;Taeck;C. Won
在现代工业中，为了实现精确的位置控制，需要对电机进行控制。特别是在机器人控制中，频繁的加减速被操作。同时，为了缩短工艺周期，需要缩短加减速时间。然而，当电机惯量较大时，电机在短加减速段会产生振动。因此，在最优驱动条件下，考虑位置模式算法。在短加减速段，通过速度模式的s曲线输出来减小电机的振动。本文在永磁同步电机控制系统中产生了考虑跳变的位置基准。通过仿真和实验结果验证了该方法对电机加减速振动的抑制作用。
In the modern industry, the motor control is required for the accurate position control. Particularly, the frequent acceleration and deceleration are operated in the robot control. Also, the short time of acceleration and deceleration is demanded for the reduction of process cycle. However, in case the inertia of motor is large, the vibration of motor is occurred in the section of short acceleration and deceleration. Therefore, the algorithm of position pattern is considered for the condition of the optimal drive. In the section of short acceleration and deceleration, the vibration of motor is reduced by the S-curve output of speed pattern. In this paper, the position reference in consideration of jerk is generated in the control system of permanent magnet synchronous motor (PMSM). The reduction of vibration occurred in acceleration and deceleration of motor is verified through the simulation and experimental results.