Real-Time Compensation of Dynamic Load Position Error With Pre-Estimation of Mechanical Parameters for a Two-Inertia Transmission System

Abstract

In this paper, a real-time compensation scheme of the dynamic load position error (DLPE) due to the elastic coupings between the driving motor and load of a two-inertia transmission system (TTS) is proposed, which does not need to install an extra position sensor on load side. Based on the TTS model, the DLPE compensator is derived at first, which can be calculated real time with the aid of pre-estimation of system torsional stiffness and moment of inertia of driving motor. Afterwards, the position of driving motor and calculated DLPE will be used as the position feedback for the load position control. The DLPE due to elastic couplings can be compensated real time with the proposed method. The proposed method is experimentally verified on a two-inertia transmission system driven by a permanent magnet synchronous machine (PMSM), which shows almost zero load position error under both dynamic and steady state tests.