KR102248547B1 - Position Control System and Control Method Using First Order Deadbeat Observer - Google Patents

Abstract

Disclosed are a position control system and a control method using a primary deadbeat observer for removing vibrations generated during PMSM operation. This increases the order from a position controller for additional state feedback control and a conventional zero-order deadbeat observer to a first-order deadbeat observer in order to apply a load to the PMSM or remove the vibration generated by the natural vibration frequency of the mechanical part. By applying it to the system, it is possible to control the position and speed robustly and precisely against the vibration elements of high frequency.

Description

Position Control System and Control Method Using First Order Deadbeat Observer}

The present invention relates to a position control system and a control method using a primary deadbeat observer, and more particularly, to a position control system and control method for removing vibrations generated during PMSM operation.

PMSM (Permanent Magnet Synchronous Motor) is currently widely used in the semiconductor industry, steel industry, and military industry due to its high torque, acceleration/deceleration characteristics, and high-precision control characteristics, and is particularly widely used in ball screw, articulated robots, and wafer manufacturing processes. . PMSM's precision control technology occupies a very important part in motion control applications due to the development of semiconductor devices and power electronics technology.

However, unpredictable parameter changes, external disturbances, and nonlinear dynamics that are not considered in the linear model of PMSM cannot be solved with conventional controllers. In addition, in the driving method for high-precision control, a load having a large inertia is applied, or a resonance is generated in the natural vibration frequency component of the mechanical part by a coupling part with a load or a connection part having tension. A problem for suppressing the vibration generated by this resonance still exists. In order to solve such a problem, studies on optimal control, adaptive control, robust control, fuzzy control, and artificial neural network applied control are being actively conducted.

Korean Patent Registration 10-1250175

The technical problem to be achieved by the present invention is to increase the order from a conventional zero-order deadbeat observer to a first-order deadbeat observer in order to suppress and eliminate vibrations generated during PMSM operation. It provides a position control system and a control method using a first-order deadbeat observer capable of controlling.

In order to solve the above problem, the position control system using the first deadbeat observer of the present invention receives the position, speed and additional state feedback signal of the synchronous motor to generate a compensation input for the disturbance, and the effect of the disturbance is converted into an equivalent current. A position controller to compensate, a first deadbeat observer for controlling external disturbance by receiving a position signal of the synchronous motor and an output signal of the position controller, an output signal of the first deadbeat observer, and the first deadbeat An MA filter for removing noise from an observer, and a notch filter for receiving a signal to which an output signal of the position controller and the MA filter are added, and removing a component of a specific frequency that causes vibration.

A speed observer for receiving feedback from the output signal of the synchronous motor through an encoder and outputting the speed information signal of the synchronous motor to the position controller, and an output signal of the synchronous motor as feedback through an encoder, and the added state of the synchronous motor It may further include an additional state controller for outputting the feedback signal to the position controller.

It may further include a parameter estimator configured to receive output signals from the position controller and the speed observer and adjust the gain by calculating a parameter gain using the input signal.

An inverse dq0 converter configured to receive the output signal of the notch filter, generate a three-phase current, and a driver configured to receive an output signal of the inverse dq0 converter and output a final command signal to the synchronous motor.

The first-order deadbit observer may have a 4×1 matrix as a gain.

The position control method using the first deadbeat observer of the present invention for solving the above problem includes the steps of transmitting a reference position information signal and a position, speed, and additional state feedback information signal of a synchronous motor to a position controller, and the output of the position controller. Transferring a signal and an output signal of the synchronous motor to a primary deadbeat observer, transferring the output signal of the primary deadbeat observer to an MA filter, and transmitting a signal output from the MA filter to an output signal of the position controller And adding the and and transferring them to the notch filter.

Before the step of outputting the output signal of the MA filter to the notch filter, the step of dividing the output signal of the MA filter by a torque constant may be further included.

It may further include converting the signal output from the notch filter into a three-phase current signal through an inverse dq0 converter and transmitting the converted signal to a synchronous motor through a driver.

A speed observer for receiving feedback from the output signal of the synchronous motor through an encoder and outputting the speed information signal of the synchronous motor to the position controller, and an output signal of the synchronous motor as feedback through an encoder, and the added state of the synchronous motor It may further include an additional state controller for outputting the feedback signal to the position controller.

It may further include a parameter estimator configured to receive output signals from the position controller and the speed observer and adjust the gain by calculating a parameter gain using the input signal.

According to the present invention, a position controller for additional state feedback control in order to apply a load to the PMSM or to remove vibrations generated by a natural vibration frequency possessed by a mechanism unit, and a first-order deadbeat observer in a conventional zero-order deadbeat observer By increasing the furnace order and applying it to the system, it is possible to control the position and speed robustly and precisely against vibration elements of high frequency.

The technical effects of the present invention are not limited to those mentioned above, and other technical effects that are not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram showing a position control system according to a first embodiment of the present invention.
2 is a diagram showing a position control system according to a second embodiment of the present invention.
3 and 4 are graphs showing experimental results according to Comparative Example 1.
5 and 6 are graphs showing experimental results according to Comparative Example 2.
7 and 8 are graphs showing experimental results according to an embodiment.
9 and 10 are graphs showing experimental examples for comparing a first-order deadbeat observer of the present invention with a conventional zero-order deadbeat observer.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and will be described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numbers, and redundant descriptions thereof will be omitted. It should be.

Example

1 is a diagram showing a position control system according to a first embodiment of the present invention.

Referring to FIG. 1, the position control system according to the first embodiment of the present invention includes a position controller 110, a first-order deadbeat observer 120, a moving average filter (MA) 130, and a notch filter 140. Includes.

) 및 추가 상태 궤환 신호 정보(z)를 속도 관측기(150)와 추가상태 제어기(160)를 통해 피드백 받은 후 전류신호 i_qc1을 출력한다.The position controller 110 is an additional state feedback controller for generating a compensation input for external disturbances, and a reference position signal (θ _r :θreference) to compensate by positive feedback of the effect of the external disturbance with an equivalent current. Is input, the position (θ) of the synchronous motor 190, the speed (

) And the additional state feedback signal information z are fed back through the speed observer 150 and the additional state controller 160, and then the current signal i _qc1 is output.

The control algorithm of the position controller 110 can be expressed as follows.

That is, the state equation of the single input single output system is expressed by Equation 1 and Equation 2.

Here, A, B, and C are n×n, n×1, and 1×n matrices, respectively. In general, Linear Quadratic Control is used to solve a regulator problem by feeding back a state variable. In addition, a control command for solving the tracking problem is expressed by Equation 3.

는 보상 입력이다. 레귤레이터는 출력 값을 0으로 보내야 함으로

이기 때문에

를 구하기 위해 새로운 오차를 적용하면 수학식 4와 같이 나타낼 수 있다.Here, K is the feedback gain matrix,

Is the compensation input. Since the regulator has to send the output value to 0

Because

If a new error is applied to obtain a, it can be expressed as in Equation 4.

In addition, the open loop tracking system to which Equation 4 is applied to Equation 1 is expressed by Equations 5 and 6.

Accordingly, the equation of the additional state feedback system of the synchronous motor 190 for position control can be expressed as Equation 7 and Equation 8.

는 동기전동기(190)의 속도와 위치를 추정한 값이고,

는 서보 문제를 해결하기 위한 추가된 상태를 나타낸다. 또한, 동기전동기(190)의 실제 파라미터로써 B는 마찰계수, J는 회전관성, k_t는 토크 상수 및 p는 모터의 극수를 나타낸다.here,

Is the estimated value of the speed and position of the synchronous motor 190,

Represents an added state to solve the servo problem. In addition, as the actual parameters of the synchronous motor 190, B is the coefficient of friction, J is the rotational inertia, k _t is the torque constant, and p is the number of poles of the motor.

In general, if the controllability matrix has a maximum coefficient, the system can be controlled, and thus control is possible because the controllability matrix of the additional state feedback system has a coefficient of 3.

및

신호를 MA 필터(130)로 출력함으로써 외부 외란을 제어한다.The primary deadbeat observer 120 receives the position signal θ of the synchronous motor 190 and the output signal i _qc1 of the position controller 110,

And

External disturbance is controlled by outputting the signal to the MA filter 130.

In order to control such external disturbances, a zero-order deadbeat observer was conventionally applied as a deadbeat observer.

The control algorithm of the 0th order deadbeat observer can be expressed as follows.

이 상수라 가정하면,

이다. 따라서, 수학식 7의

과

상태 방정식에

를 적용하면 0차 데드비트 관측기의 방정식을 수학식 9와 같이 나타낼 수 있다.

Assuming this constant,

to be. Therefore, in Equation 7

and

To the equation of state

When is applied, the equation of the zero-th order deadbeat observer can be expressed as Equation 9.

는 관측하고 싶은 부하 토크이고, L은 0차 데드비트 관측기의 이득으로써 이는 L₁,L₂,L₃를 가지는 3×1 행렬임을 나타낸다. 즉, 궤환 이득을 극 배치로 구할 때 사용 가능한 Ackermann's Formular를 이용하여 L 행렬을 구할 수 있다. 일반적으로 가관측성 행렬은 최대 계수를 가지면 시스템은 관측이 가능하므로 상기 0차 데드비트 관측기의 가관측성 행렬은 역행렬이 존재하고, 계수가 3이므로 관측이 가능하다.here,

Is the load torque you want to observe, and L is the gain of the zeroth deadbeat observer, indicating that it is a 3×1 matrix with _{L 1} , L ₂ , and L _3. That is, the L matrix can be obtained by using Ackermann's Formular, which can be used when calculating the feedback gain by pole arrangement. In general, if the observability matrix has a maximum coefficient, the system can observe, so the observability matrix of the zero-th order deadbeat observer has an inverse matrix and has a coefficient of 3, so it can be observed.

When there is a load, the conventional zero-order deadbeat observer described above predicts and compensates for the load value every sampling time. This has a disadvantage of having a large error rate of the load that changes between sampling times because the value of the load predicted from the current sampling time is maintained until the next sampling time. However, since the first deadbeat observer 120 of the present invention predicts by connecting in a straight line from the predicted load value of the current sampling time to the predicted load value of the next sampling time, it is possible to strongly control the vibrating load. It is possible.

The control algorithm of the first deadbeat observer 120 of the present invention can be expressed as follows.

이 시간에 대한 1차 함수라고 가정하면,

로 나타낼 수 있다. 상기 식을

로 치환하여 상태방정식으로 표현하면 수학식 10과 같이 나타낼 수 있다.

Assuming this is a linear function over time,

It can be expressed as The above equation

It can be expressed as Equation 10 by substituting with and expressing the equation of state.

과

상태 방정식에 수학식 10의 수식을 적용하면 1차 데드비트 관측기(120)의 방정식을 수학식 11과 같이 나타낼 수 있다.Here, in Equation 7

and

When the equation of Equation 10 is applied to the equation of state, the equation of the first-order deadbeat observer 120 can be expressed as Equation 11.

Here, L represents a 4×1 matrix _{having L 1} , L ₂ , L ₃ , and L ₄ as gains of the first-order dead bit observer 120. As for the matrix of the first-order deadbit observer 120, the L matrix can be obtained using Ackermann's Formular as in the zero-order deadbit observer. In addition, the discrete equation for digital implementation of the first-order deadbeat observer 120 can be expressed as Equation 12 using a Matlab function.

Accordingly, the first-order deadbeat observer 120 according to the present invention can also observe and control because the coefficient of the observability matrix is 4, as in the conventional zero-order deadbeat observer, because an inverse matrix exists.

및

)를 입력받고, 입력받은 신호를 필터링한다.The MA filter 130 (Moving Average Filter) is the output signal of the first-order deadbeat observer 120 (

And

) Is input, and the input signal is filtered.

In general, a deadbeat observer is one of the controllers of a digital system and has a simple structure and excellent performance in eliminating disturbances. That is, it has the characteristic of efficiently compensating the disturbance by the feedback of the observed disturbance, but has a disadvantage of being weak against noise. Accordingly, the MA filter 130 receives the output signal of the first-order deadbeat observer 120 and performs a function of removing noise from the input signal.

The signal (c_tl) filtered by the MA filter 130 is the torque constant (k _t) and then divided by and output to the current signal i _qc2, the output current signal (i _qc2) is a position controller 110, the output signal (i _qc1 ) And outputs the current signal i _qc to the notch filter.

Notch filter 140 receives the current signal (i _qc) of the additive, and filter the input signal (i _qc). That is, in the signal input to the notch filter 140, a specific frequency component that causes vibration may be removed by the notch filter 140.

^{The output current signal (i *} _qc ) filtered by the notch filter 140 is an inverse dq0 transform unit (Inverse Direct-quadrature-zero Transformation) 170 to generate a, b, c three-phase current for controlling the motor. ), and the three-phase current signals (i _ac , i _bc , i _cc ) output from the inverse dq0 conversion unit 170 are transferred to the synchronous motor 190 through the driver 180.

A method of controlling the position control system according to the first embodiment of the present invention will be described in detail below.

The control method of the position control system according to the first embodiment of the present invention includes the steps of transmitting a reference position information signal and a position, speed, and additional state feedback information signal of the synchronous motor 190 to the position controller 110, the position controller ( Transferring the output signal of 110) and the output signal of the synchronous motor 190 to the primary deadbeat observer 120, transferring the output signal of the primary deadbeat observer 120 to the MA filter 130, And adding the signal output from the MA filter 130 to the output signal of the position controller 110 and transmitting the added signal to the notch filter 140.

Here, before the step of outputting the output signal of the MA filter to the notch filter, the step of dividing the output signal of the MA filter by a torque constant may be further included.

) 및 추가된 상태 신호 정보(z)를 피드백 받는다. 여기서, 동기전동기(190)의 속도 신호(

)는 동기전동기(190)의 위치 정보를 입력받은 속도 관측기(150)를 통해 전달받고, 동기전동기(190)의 추가된 상태 신호(z)는 동기전동기(190)의 위치 정보를 입력받은 추가상태 제어기(160)를 통해 전달받는다. 위치제어기(110)는 기준 위치 정보 신호(θr), 동기전동기(190)의 위치(θ), 속도(

) 및 추가된 상태 신호 정보(z)를 전달받고 전류신호 i_qc1을 출력한다.First, the position controller 110 includes a reference position information signal θr, a position θ of the synchronous motor 190, and a speed (

) And the added status signal information (z) are fed back. Here, the speed signal of the synchronous motor 190 (

) Is transmitted through the speed observer 150 receiving the position information of the synchronous motor 190, and the added state signal z of the synchronous motor 190 is an additional state receiving the position information of the synchronous motor 190. It is transmitted through the controller 160. The position controller 110 includes a reference position information signal θr, a position θ of the synchronous motor 190, and a speed (

) And the added status signal information (z), and outputs a _{current signal i qc1.}

및

)신호를 MA 필터(130)로 출력한다. MA 필터(130)는 1차 데드비트 관측기(120)의 출력신호(

및

)를 입력받아 입력된 신호의 잡음을 제거하고, 잡음이 제거된 신호(c_tl)를 출력한 후 토크상수(k_t)로 나누어 전류신호 i_qc2를 출력한다. _{The output current signal i qc1} output through the position controller 110 and the position information signal θ of the synchronous motor 190 are input to the primary deadbeat observer 120 to control external disturbances, Through the signal, the first-order deadbeat observer 120 is (

And

) Signal is output to the MA filter 130. The MA filter 130 is the output signal of the first-order deadbeat observer 120 (

And

) Is received, the noise of the input signal is removed, the signal from which the noise is removed (c_tl) is output, and the current signal i _qc2 is output _{by dividing it by the torque constant (k t ).}

The output current signal (i _qc2) are added and the position controller 110 outputs a current signal (i _qc1), and then generate a current signal i _qc is input to the notch filter 140, the input current signal i _qc is vibration Filtered by the notch filter 140 in order to remove a component of a specific frequency that causes the induction.

^{The current signal i *} _qc filtered by the notch filter 140 is output to the inverse dq0 transform unit 170 (Inverse Direct-quadrature-zero Transformation) to generate a, b, c three-phase current for controlling the motor. And, the three-phase current signal (i _ac , i _bc , i _cc ) output from the inverse dq0 conversion unit 170 is transmitted to the synchronous motor 190 through the driver 180. The output signal of the synchronous motor 190 connected to the load is fed back to the position controller 110 and the primary deadbeat observer 120 through the encoder again, and this process is repeatedly performed, which is generated when the synchronous motor 190 is operated. It can suppress and eliminate vibration. In addition, by increasing the order of the deadbeat observer from the conventional 0th order to the 1st order, it is possible to control the position and speed of the dead beat observer with a strong and precise position and speed against high frequency vibration elements.

2 is a diagram showing a position control system according to a second embodiment of the present invention.

Referring to FIG. 2, the position control system according to the second embodiment may include a parameter estimator 210 in the configuration of the first embodiment. That is, except for the parameter estimator 210, the configuration of the first embodiment is the same.

In general, a parameter change of an actual system or a fixed gain setting using an inaccurate parameter leads to a change in the performance of the system. Therefore, by adjusting the gain by applying the parameter estimator 210, the response characteristic of the equivalent index system without disturbance can be estimated so that the actual system operates at a nominal value.

)를 입력받고, 입력된 신호를 이용하여 파라미터 이득 G₁, G₂, G₃를 계산한다. 즉, 파라미터 추정기(210)에서 계산된 파라미터 이득 G₁, G₂, G₃를 이용하여 동기전동기(190)의 속도(

)와 위치(θ)에 각각 G₁과 G₂ 적용하여 계산하고, 위치제어기(110)의 출력 전류신호(i_qc1)와 1차 데드비트 관측기(120)와 MA 필터(130)를 통해 출력된 출력 전류신호(i_qc2)를 가산한 전류신호(i_qc3)에 G₃를 적용하여 계산한 후 계산된 이득을 모두 가산하여 노치필터(140)로 출력 전류신호 i_qc를 출력한다.Looking at the operation of the parameter estimator 210 according to the second embodiment, the parameter estimator 210 includes an output current signal i _qc1 of the position controller 110 and a speed information signal output from the speed observer 150 (

) Is input, and the parameter gains G ₁ , G ₂ , and G ₃ are calculated using the input signal. That is, the parameters calculated by the parameter estimator 210, a gain G _1, G _2, G ₃ speed of the synchronous motor 190 by using the (

) And the position (θ) by _{applying G 1} and G ₂ respectively, and the output current signal (i _qc1 ) of the position controller 110 and the first deadbeat observer 120 and the MA filter 130 the output current signal (i _qc2) a current signal (i _qc3) the addition and then calculated by applying the calculated gain G ₃ both the addition, and outputs an output current signal i _qc a notch filter (140).

Experimental example

The experiment was conducted by comparing the example to which the first deadbeat observer according to the present invention was applied with two comparative examples. As shown in [Table 1], Comparative Example 1 shows a case where only a position controller is applied without a deadbeat observer, and Comparative Example 2 shows a case where a position controller and a zeroth deadbeat observer are applied. It shows when the controller and the first deadbeat observer are applied.

Position controller Zeroth order deadbeat observer 1st deadbeat observer Comparative Example 1 o - - Comparative Example 2 o o - Example o - o

The experimental conditions were implemented using C language, and the sampling period was set to 0.2[ms]. The system was configured so that the Runge-Kutta 4th method operates at 1 [μ].

[Table 2] shows parameters of 2.5kW PMSM actually used as parameter values used in the simulator.

Parameter Value Unit Rated Output 2.5 kW Rated Torque 8.1 Nm Rated Speed 3000 r/min Rated Current 8.8 A J (Inertia) 10.6×10 ^-4 kgm ² Torque Constant 0.920455 Nm/A Mechanical Time Constant 1.0 ms Stator Resistance 0.91 Ω/phase Phase Inductance 1.76 mH B (Viscous Friction) 1.06 kgm ² /s Poles 8 -

Using the experimental conditions described above, each experiment was conducted and compared for Comparative Example 1, Comparative Example 2, and Example.

3 and 4 are graphs showing experimental results according to Comparative Example 1.

3 and 4, FIG. 3(a) shows the rotor position in a state where a sine wave load having a frequency of 10 and a size of 2 is applied when only the position controller is applied, and FIG. 3(b) shows the position of the rotor. Shows the experimental results for the current command. In addition, FIG. 4 shows a waveform in which the range of 1.4 [sec] to 2.6 [sec] of the x-axis is expanded in order to check the value when the rotor position reaches a steady state in the graph of FIG. 3.

As shown in the graphs of FIGS. 3 and 4, in Comparative Example 1, since the deadbeat observer was not applied and only the position controller was applied, it was sensitive to the load, so that ε _pp (Peak to Peak θ Error) was measured as 0.041130 [rad]. I can confirm.

5 and 6 are graphs showing experimental results according to Comparative Example 2.

5 and 6, FIG. 5 is an experiment under the same test conditions as Comparative Example 1, and FIG. 5(a) shows the position of the rotor for Comparative Example 2, and FIG. 5(b) shows the q-phase current. Shows the results of the experiment on the command. In addition, FIG. 6 shows a waveform in which the range of 1.4 [sec] to 2.6 [sec] of the x-axis is expanded in order to check the value when the rotor position reaches a steady state in the graph of FIG. 5.

As shown in the graphs of Figs. 5 and 6, when the 0th deadbeat observer is applied to the position controller, the ε _pp value is reduced by about 22 times compared to 1 compared to the comparison because the compensation is performed for the load by the 0th deadbeat observer. It can be seen that it is measured as 0.001870 [rad].

7 and 8 are graphs showing experimental results according to an embodiment.

7 and 8, FIG. 7 was tested under the same test conditions as Comparative Examples 1 and 2, and FIG. 7(a) shows the position of the rotor for the example, and FIG. 7(b) shows the q-phase. Shows the experimental results for the current command. In addition, FIG. 8 shows a waveform in which the range of 1.4 [sec] to 2.6 [sec] of the x-axis is expanded in order to check the value when the rotor position reaches a steady state in the graph of FIG. 7.

As shown in the graphs of Figs. 7 and 8, when the first deadbeat observer is applied to the position controller, the ε _pp value is reduced by about 78 times compared to Comparative Example 1 because compensation was performed for the load by the first deadbeat observer. And, compared to Comparative Example 2 to which the _{zeroth deadbeat observer was applied, it can be seen that the ε pp} value decreased by about 3.5 times to be 0.000527 [rad]. That is, the position control system according to the present invention applies a load to the synchronous motor by applying a position controller and a primary deadbeat observer, or controls the vibration element generated by the natural vibration frequency of the mechanism unit with strong and precise position and speed control. It can be seen that it can be effectively removed through.

로 계산하였다.[Table 3] below shows the experimental results for Comparative Examples 1 and 2 and Examples when the simulation test results for a sine wave load are connected to a screw having a ball pitch of 2 [mm]. The pitch of the ball screw cannot be mechanically made close to 0, and a ball screw with a ball pitch of 1[mm]~2[mm] is currently being used, so it was calculated as 2[mm]. Also, the position error of the ball screw is

It was calculated as.

ε _pp Error with Ball screw Overshoot Undershoot Comparative Example 1 0.041330 [rad] 13.092[μm] 1.590978[rad] 1.549848[rad] Comparative Example 2 0.001870 [rad] 595.239[nm] 1.571420 [rad] 1.569550[rad] Example 0.000527[rad] 167.749 [nm] 1.570988[rad] 1.570461 [rad]

As shown in the experimental results of [Table 3], it can be seen that the example in which the position controller and the first deadbeat observer are applied is 167.749 [nm], which has the lowest position error compared to Comparative Examples 1 and 2, and the most precise result is measured.

9 and 10 are graphs showing experimental examples for comparing a first-order deadbeat observer of the present invention with a conventional zero-order deadbeat observer.

Fig. 9(a) is a graph showing the error observed in the load torque in the position control system to which the zeroth deadbeat observer is applied, and Fig. 9(b) is a calculated absolute value for the error shown in Fig. 9(a). It is a graph showing the error rate with the applied load after integration. In addition, FIG. 10(a) is a graph showing the error observed in the load torque in the position control system to which the first deadbeat observer according to the present invention is applied, and FIG. 10(b) is a graph showing the error shown in FIG. 10(a). It is a graph showing the error rate with the applied load by integrating after calculating the absolute value for. Referring to FIGS. 9 and 10, it can be seen that the first deadbeat observer according to the present invention has a smaller error rate for the vibrating load torque than the zeroth deadbeat observer.

As described above, the position control system using the primary deadbeat observer according to the present invention applies a load to the synchronous motor or removes the vibration generated by the natural vibration frequency possessed by the mechanism unit for additional state feedback control. By increasing the order from a position controller and a conventional zero-order deadbeat observer to a first-order deadbeat observer and applying it to the system, it is possible to control the position and speed robustly against high-frequency vibration elements.

On the other hand, the embodiments of the present invention disclosed in the specification and drawings are merely presented specific examples to aid understanding, and are not intended to limit the scope of the present invention. In addition to the embodiments disclosed herein, it is obvious to those of ordinary skill in the art that other modified examples based on the technical idea of the present invention may be implemented.

110: position controller 120: first deadbeat observer
130: MA filter 140: notch filter
150: speed observer 160: additional state controller
170: inverse dq0 conversion unit 180: driver
190: synchronous motor 210: parameter estimator

Claims (10)

A position controller that receives a feedback signal for a position, a speed, and an additional state feedback signal of the synchronous motor to generate a disturbance compensation input, and compensates the influence of the disturbance with an equivalent current;
A primary deadbeat observer configured to receive a position signal of the synchronous motor and an output signal of the position controller to control external disturbances;
An MA filter for receiving the output signal of the first-order deadbeat observer and removing noise from the first-order deadbeat observer;
A notch filter for receiving a signal obtained by adding an output signal of the position controller and the MA filter, and removing a component of a specific frequency that causes vibration;
A speed observer receiving feedback from the output signal of the synchronous motor through an encoder and outputting a speed information signal of the synchronous motor to the position controller; And
An additional state controller receiving feedback of the output signal of the synchronous motor through an encoder and outputting an added state feedback signal of the synchronous motor to the position controller,
The speed observer receives feedback of the position information signal of the synchronous motor through the encoder, and outputs the observed speed information signal to the position controller using the position information signal,
The position controller receives the position information signal of the synchronous motor, the speed information signal observed by the speed observer, and the added state feedback signal of the synchronous motor output from the additional state controller. Position control system. delete The method of claim 1,
A position control system using a first-order deadbeat observer, further comprising a parameter estimator configured to receive an output signal from the position controller and the speed observer and adjust the gain by calculating a parameter gain using the input signal. The method of claim 1,
An inverse dq0 converter receiving the output signal of the notch filter and generating a three-phase current; And
A position control system using a primary deadbeat observer further comprising a driver receiving the output signal of the inverse dq0 converter and outputting a final command signal to the synchronous motor. The method of claim 1,
The position control system using a first-order deadbeat observer, wherein the first-order deadbit observer has a matrix of 4×1 as a gain. Transmitting a reference position information signal and a position, speed, and additional state feedback information signal of the synchronous motor to a position controller;
Transmitting the output signal of the position controller and the output signal of the synchronous motor to a primary deadbeat observer;
Passing the output signal of the first-order deadbeat observer to an MA filter; And
Including the step of adding the signal output from the MA filter to the output signal of the position controller and then transferring it to a notch filter,
A speed observer receiving feedback from the output signal of the synchronous motor through an encoder and outputting a speed information signal of the synchronous motor to the position controller; And
And an additional state controller for receiving feedback of the output signal of the synchronous motor through an encoder, and outputting an added state feedback signal of the synchronous motor to the position controller,
The speed observer receives the feedback of the position information signal of the synchronous motor through the encoder, and outputs the observed speed information signal to the position controller using the position information signal,
The position controller receives the position information signal of the synchronous motor, the speed information signal observed by the speed observer, and the added state feedback signal of the synchronous motor output from the additional state controller. Position control method. The method of claim 6,
Before the step of outputting the output signal of the MA filter to the notch filter,
The position control method using a first-order deadbeat observer further comprising the step of dividing the output signal of the MA filter by a torque constant. The method of claim 6,
Converting the signal output from the notch filter into a three-phase current signal through an inverse dq0 converter and transmitting the converted signal to a synchronous motor through a driver. delete The method of claim 6,
A position control method using a first-order deadbeat observer further comprising a parameter estimator configured to receive an output signal of the position controller and the speed observer and adjust the gain by calculating a parameter gain using the input signal.

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