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An automatic torque ripple compensation system for direct drive motors |
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| Authors: | Hirokazu Sato Tatsuo Makino Nobuyuki Matsui |
| Affiliation: | 1. Nagoya Institute of Technology
Hirokazu Sato graduated in 1991 from Nagoya Institute of Technology, where he is currently in the Master's program. He is interested in the control of DD motors.;2. Nagoya Institute of Technology Tatsuo Makino obtained a Master's degree in 1991 from Nagoya Institute of Technology and joined Kawasaki Heavy Industry Co. in April of the same year. His research was on the control of DD motors.;3. Nagoya Institute of Technology Nobuyuki obtained a Master's degree in 1968 from Nagoya Institute of Technology, where he was an Assistant and later appointed a Full Professor in 1985. He has a Dr. of Eng. degree. He is a member of the Society of Instrumentation and Control Engineers of Japan, and IEEE. |
| Abstract: | A serious problem in motion control is the occurrence of torque ripple. Since a direct drive (DD) motor with a magnet rotor uses a rare-earth magnet, the torque ripple is more serious than that of conventional servomotors. This paper presents an auto-compensation of torque ripple using a software-implemented torque observer. The frequency and amplitude of torque ripple can be obtained in the controller by using the estimated torque from an observer, and the autonomous generation of a compensating current component for a torque ripple is possible. The proposed algorithm has been verified by experiments. |
| Keywords: | Direct drive motor torque ripple torque observer Fourier series expansion automatic compensation |