Encoderless Control of Industrial Servo Drives
Encoderless Control of Industrial Servo Drives
复制标题
工业伺服驱动器的无编码器控制
DOI：
10.1109/epepemc.2006.4778693
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
R. Kennel
中科院分区：
文献类型：
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作者：
O. C. Ferreira;R. Kennel
高分辨率光学编码器用于具有位置和/或速度控制的工业伺服驱动器中，用于提供相应的反馈信号。在精度要求较低的应用中，旋转变压器用作反馈传感器，成本较低。由于分解器只不过是一种特殊设计的交流电机，因此基本思想是将伺服电机本身像分解器一样与其原始驱动操作并行操作。高频分解器信号被注入伺服电机，而不会干扰其原始目的（即扭矩的产生）。伺服电机对高频信号的反应可以由电流传感器检测，电流传感器无论如何都可以相对于电流控制回路使用。许多方案和概念的无编码器交流驱动控制提供良好的运行在静止期间已经公布。然而，工业界的接受程度并不高。在工业上犹豫的主要原因是：控制器或信号处理器需要额外的处理性能;需要为无编码器控制调整额外的传感器或硬件参数。本文提出的无编码器控制的概念对于最小速度或频率没有限制。此外，可以在工业伺服驱动器中实现它，而无需额外的硬件要求和参数调整。
High resolution optical encoders are used in industrial servo drives with position and/or speed control for providing the respective feedback signals. In applications with lower accuracy requirements resolvers are used as feedback sensors with respect to lower cost. As a resolver is nothing else than an electrical AC machine of special design, there is the basic idea to operate the servo motor itself like a resolver ¿ in parallel to its original drive operation, of course. High frequency resolver signals are injected to the servo motor without disturbing its original purpose (i.e. the production of torque). The reaction of the servo motor on the high frequency signals can be detected by the current sensors, which are available with respect to the current control loop anyway. A lot of schemes and concepts for encoderless AC drive control providing good operation during standstill are already published. Acceptance by industry, however, is not very extended. The main reasons for hesitations in industry are ¿ additional processing performance being necessary for the controller or signal processor ¿ additional sensors or hardware ¿ parameters to be adjusted for encoderless control The concept for encoderless control presented in this paper has no restrictions with respect to a minimal speed or frequency. Furthermore it is possible to implement it in industrial servo drives without additional hardware requirements and without parameter adjustments.