Robust Positioning Control Using α-β Stationary Frame Current Controller and Disturbance Torque Hybrid Observer

摘要

In the field of high precision positioning control, the position servo system must be highly robust against disturbance torque. A Permanent Magnet Synchronous Motor (PMSM) has various torque ripple components that degrade control performance. A portion of the torque ripple is caused by the harmonic current. The torque ripple can be suppressed using a highly robust current control system. The remaining torque ripple is defined as the disturbance torque and is compensated for using a Disturbance OBserver (DOB). However, it is very difficult for a DOB to perform the appropriate compensation because it uses a low-pass filter to reduce noise. To obtain highly robust performance, this paper proposes a new position servo system using a disturbance torque hybrid observer and a current control system in the α -β stationary frame. In addition, this paper uses the torque ripple equation instead of a torque ripple table so as to reduce the amount of Digital Signal Processor (DSP) memory. The effectiveness of the proposed position servo system is confirmed using numerical and experimental results.