極ゼロ相殺法に基づく誘導電動機のセルフチューニング制御

概要

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In this paper, we present an excellent method named pole-zero cancellation (PZC)for designing motor control systems. PZC is performed in the z plane. A control systemconsists of three controllers, i.e., a speed controller, a position controller, and an adaptiveidentifier. The speed controller has two degrees of freedom: disturbance suppression andtracking speed, both of which can be regulated. The pulse transfer function used for regulatingthe tracking speed has two poles and one zero. When one pole and one zero coincide and canceleach other, the pulse transfer function is of the first-order lag type, and overshoots do notappear. The adaptive controller determines the coefficients of the pulse transfer function andadjusts the speed controller automatically so that the poles and zeros coincide. The transferfunction of the position controller also has one pole and one zero, which cancel another poleand zero; pole 1 in the closed loop is not cancelled, and hence, position overshoots do not appear.
2012-01-31