High speed positioning system considering unknown coulomb friction and windup phenomenon

T. Mashimo, K. Ohishi, H. Dohmeki
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引用次数: 1

Abstract

In a conventional positioning system, when the position error becomes small, the motor cannot obtain enough deceleration torque. Hence, the position response becomes slow. There is also another positioning system that is to design a position reference from trapezoidal speed reference. This positioning system is valid when load torque and the final goal position are given. However, if the load torque and the final goal vary, its position response cannot have the desired response. In order to overcome these problems, this paper proposes a new high speed positioning system of AC servo motor considering unknown coulomb friction and windup phenomenon. The proposed always uses the maximum acceleration or deceleration torque and the maximum speed.
考虑未知库仑摩擦和上弦现象的高速定位系统
在传统的定位系统中,当位置误差变小时,电机无法获得足够的减速转矩。因此,位置响应变慢。还有一种定位系统是由梯形速度基准来设计位置基准。在给定负载力矩和最终目标位置的情况下,该定位系统是有效的。但是,如果负载转矩和最终目标发生变化,则其位置响应不能达到期望的响应。为了克服这些问题,本文提出了一种考虑未知库仑摩擦和绕组现象的交流伺服电机高速定位系统。建议总是使用最大加速或减速扭矩和最大速度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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