PWM駆動されるDCサーボモータのフィードフォワード電機子電流制御法

概要

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This paper deals with a feedforward-control method of the armature current for a DC servomotor driven in a PWM mode. The armature current is computed using a DSP based full digital circuit from motor parameters (armature resistance, back emf constant, and inertia), speed and drive circuit impedance without current feedback. The PWM ratio, which is given in reference to the current command, is calculated using the computed armature current. A computing block, which is referred in the paper as an estimation unit, is incorporated to estimate the sum of the armature resistance and the output resistance of the drive circuit, which are both very sensitive to temperature. By this method, the armature current can be adjusted much closer to the current command compared to a system without an estimation unit. The conclusions are (1) accurate PWM ratio commands can be obtained using the computed value of the armature current without real current feedback, (2) by incorporating the estimation unit, the accuracy of the control system is increased, and (3) this technique can be applied to the designing of full digital LSI's for motor controls.
公益社団法人精密工学会の論文
1992-10-05