Development of a high performance AC servo system by direct torque and speed control

通过直接扭矩和速度控制开发高性能交流伺服系统

• 批准号: 63850054
• 负责人: TAKAHASHI Isao
• 金额: $ 4.54万
• 依托单位: Nagaoka University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-63850054/
• 关键词: Torque Control of an Induction Motor; Speed Control of an Induction Motor; Servo Systems; Direct Computer Control; Inverter Control; AC drive; 誘導電動機のトルク制御; 誘導電動機の速度制御; 誘導機の回転速度制御; サーボシステム; DSP制御

A new direct torque control method which is quite different from conventional vector control is presented. Following results are obtained by testing the experimental system; 1.Impact torque of 20 times of the rated torque is obtained. 2.The frequency response at the sinusoidal rated torque is about 2 kHz. 3.Time constant of 4 ms have been achieved for the speed step response from -500 rpm to 500 rpm. 4.Decoupling control between torque and flux of the primary winding can be easily realized. 5.Full digital control is economically realized by using DSP (TMS320-10).Ultra-wide range speed control based an the principles of impulsive torque drives is proposed and following results are obtained; 1.Ultra-low speed of 1 rev/day and speed variation of <plus-minus>0.1 rev./hour are experimentally realized. 2.Wide speed control range of 1:2,000,000 is also obtained by using its principle. 3.The speed drift at rated torque is under 1 rev/week which is determined by the integrator of the drift of the P-I circuiFinally, high resolution positioning control is challenged by using above impulsive torque drives and sliding mode control. 1.Full digital circuits are constructed by DSP and a high resolution position sensor. 2.The accuracy of the position obtained by control is 1 sec.(1/1296000 rev) 3.Auto tuning to compensate the variation of the load constants is realized by changing the slope of the sliding line. 4.Small position error of 40 sec at the impact load is obtained by P-I control within 0.1 sec. These results are all world records and provided to be very promising and skillful techniques. Drive systems using above techniques have been applied to HSST drives and industrial servo systems above 200 sets.

提出了一种不同于传统矢量控制的直接转矩控制方法。通过对实验系统的测试，得到了以下结果：1.获得了20倍额定扭矩的冲击扭矩。2.在正弦额定转矩下的频率响应约为2 kHz。3.对于从-500 rpm到500 rpm的速度阶跃响应，已经实现了4 ms的时间常数。4.该方法易于实现初级绕组转矩和磁链的解耦控制。5.采用DSP（TMS 320 -10）实现了全数字控制，经济实用，并提出了基于脉冲转矩驱动原理的超宽调速方案，取得了如下成果：1.超低速1转/天，调速范围0.1<plus-minus>转/天;小时是实验性实现。2.利用该原理还可获得1：200万的宽调速范围。3.在额定转矩下的速度漂移小于1转/周，这是由P-I电路的漂移的积分器确定的。最后，高分辨率定位控制的挑战，通过使用上述脉冲转矩驱动器和滑模控制。1.采用DSP和高精度位置传感器构成全数字电路。2.通过控制获得的位置精度为1秒。（1/1296000 rev）3.通过改变滑动线的斜率，实现了对负载常数变化的自动调节。4.通过P-I控制，在0.1秒内获得了冲击载荷下40秒的小位置误差。这些结果都是世界纪录，并提供了非常有前途和熟练的技术。采用上述技术的驱动系统已应用于HSST驱动器和工业伺服系统200多台。

项目成果

Isao Takahashi: "High resolution position control under 1sec of an induction motor with full digitized methods" Conf.Record of IEEE - IAS Annual Meet.632-638 (1989)

Isao Takahashi：“采用全数字化方法对感应电机进行 1 秒高分辨率位置控制” IEEE 会议记录 - IAS 年会.632-638 (1989)

Isao Takahashi: "High Resolution Position Control Under lsec.of an Induction Motor with Full Digitized Methods" Conference Record of the 1989 IEEE Industry Application Society Annual Meeting. 1. 632-638 (1989)

Isao Takahashi：“采用全数字化方法的感应电机在 1 秒下的高分辨率位置控制”1989 年 IEEE 工业应用协会年会会议记录。

I.Takahashi: Proceedings of the first international PCIM'88 conference. 254-263 (1988)

I.Takahashi：第一届国际 PCIM88 会议论文集。

I.T: IEEE Transaction on Industry application.

I.T：IEEE 工业应用汇刊。

Isao Takahashi: "High performance direct torque control of an induction motor" IEEE Trans. Industrial Application. Vol.25 No.2. 257-264 (1989)

Isao Takahashi：“感应电机的高性能直接扭矩控制”IEEE Trans。