Low-Speed Control of Arc Motor Using Kalman Observer via Acceleration-Based Disturbance Observer
Low-Speed Control of Arc Motor Using Kalman Observer via Acceleration-Based Disturbance Observer
复制标题
DOI：
10.1109/tpel.2023.3322863
复制
发表时间：
2024-01
影响因子：
6.7
通讯作者：
Shuhua Fang;Yiting He;Peng Wan;Zhenbao Pan
中科院分区：
文献类型：
--
作者：
Shuhua Fang;Yiting He;Peng Wan;Zhenbao Pan
本文提出了一种永磁电弧电机伺服系统的速度测量策略。该方法通过新开发的基于加速度的扰动观测器（ADOB）与卡尔曼观测器（ADOB- kmo）相结合，提高了低分辨率编码器在低速条件下的精度。为了准确构建电弧电机的运动方程，提出了一种基于位置信号的模型参考自适应惯性辨识方法。该方法不同于传统的依赖转子转速的惯性辨识策略，避免了转速不准确对系统方程建立的影响。然后利用ADOB来避免已有干扰观测器中位置信号的微分和二次微分。此外，将ADOB的观测结果前馈到电流控制电路中，提高了系统的抗扰性能。与传统的卡尔曼速度观测器相比，采用ADOB-KMO降低了KMO的阶数，从而取代M/T方法测量转子转速。基于电弧电机和2500ppr编码器的实验验证了该方法的有效性。
This article proposes a novel speed measurement strategy for a permanent magnet arc motor (arc motor) servo system. This method improves the accuracy of a low-resolution encoder at low-speed condition through a newly developed acceleration-based disturbance observer (ADOB) combined with a Kalman observer (ADOB-KMO). A novel model-reference-adaptive inertia identification based on position signal is proposed to accurately construct the motion equation of arc motor. The method can avoid the influence of inaccurate speed on the establishment of the system equation, which is different from the traditional inertia identification strategy relying on the rotor speed. The ADOB is then used to avoid differential and quadratic differential of position signal in existing disturbance observer. In addition, the observation result of ADOB is fed forward to the current control circuit to improve the disturbance rejection performance of the system. Compared with the conventional Kalman velocity observer, ADOB is used to reduce the order of KMO, and ADOB-KMO then replaces the M/T methods to measure the rotor speed. Experiments based on an arc motor and 2500 ppr encoder verify the effectiveness of the proposed method.