Perfect Tracking Control of Servo Motor Based on Precise Model Considering Current Loop and PWM Hold
Perfect Tracking Control of Servo Motor Based on Precise Model Considering Current Loop and PWM Hold
复制标题
基于考虑电流环和PWM保持的精密模型的伺服电机完美跟踪控制
DOI：
10.1541/ieejias.127.587
复制
发表时间：
2007
影响因子：
--
通讯作者：
H. Fujimoto
中科院分区：
文献类型：
--
作者：
K. Sakata;H. Fujimoto
在运动控制中，虽然模型化误差取决于PWM逆变器的电流环和动态，但是通常在设计伺服电动机的位置控制系统时不考虑这些原因。本文建立了一种新的包括电流环和PWM逆变器在内的伺服电机精确模型，并在此精确模型的基础上提出了一种基于完美跟踪控制的高速伺服系统。在运动控制中，伺服电动机的位置控制系统的设计通常不考虑电流环和PWM逆变器的动态特性。本文建立了一种新的包括电流环和PWM逆变器在内的伺服电机精确模型，并在此精确模型的基础上提出了一种基于完美跟踪控制的高速伺服系统。最后，通过仿真和实验验证了该方法的优越性.
In motion control, although a modeled error depends on a current loop and dynamics of a PWM inverter, position control systems of servomotors are generally designed without considering these causes. In this paper, a novel precise model of servomotor is developed including the current loop and the PWM inverter, and the high-speed servo system is proposed based on perfect tracking control with the precise model. In motion control, position control systems of servomotors are generally designed without considering a current loop and dynamics of a PWM inverter. In this paper, a novel precise model of servomotor is developed including the current loop and the PWM inverter, and the high-speed servo system is proposed based on perfect tracking control with the precise model. Finally, simulations and experiments are performed to show the advantages of the proposed method.