Conference Paper

Low Speed Control of PMAC Servo System Based on Reduced-order Observer.

Dept. of Electr. Eng. & Autom., Harbin Inst. of Technol.
DOI: 10.1109/IROS.2006.282445 Conference: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China
Source: DBLP


Incremental encoders are popular for detecting angular position and speed. However, the conventional incremental encoder-based methods for estimating speed are prone to poor performance at low speed where the encoder output rate is correspondingly low, leading to a number of research efforts in improved low-speed detection algorithms. To improve speed control performance, a speed detection method based on reduced-order observer is presented in this paper. The observer can interpolate speed and position which is the integration of speed and compared with real data from the encoder when the encoder pulse is detected between encoder pulses. Furthermore, inertia identification based on recursive extended least square algorithm is presented to reduce sensitivity of the speed estimation. Experimental results show that low speed control performance using the reduced-order order is superior to that of conventional one

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    ABSTRACT: Most servo control systems generally adopt incremental optical encoders for speed detection when considering cost and performance requirements. For a fixed sampling period, this kind of encoder along with the generally used so-called M method, may degrade the response or even cause the system to become unstable in a low-speed operating region because of the resulting speed detection delay. In this article, a reference model improves low-speed responses; parameter identification by recursive least square error algorithm overcomes the problem of parameter variations and an adaptive proportional-integral control strategy based on the parameter identification results further justifies the proposed method. A digital signal processor based permanent magnet synchronous motor drive will be used to carry out the experimental results, which show the effectiveness of the proposed method.
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