WO2024048818A1 - Appareil et procédé pour supprimer automatiquement la résonance d'un système d'asservissement - Google Patents

Appareil et procédé pour supprimer automatiquement la résonance d'un système d'asservissement Download PDF

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Publication number
WO2024048818A1
WO2024048818A1 PCT/KR2022/013136 KR2022013136W WO2024048818A1 WO 2024048818 A1 WO2024048818 A1 WO 2024048818A1 KR 2022013136 W KR2022013136 W KR 2022013136W WO 2024048818 A1 WO2024048818 A1 WO 2024048818A1
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Prior art keywords
resonance
frequency
amplitude
current command
servo system
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PCT/KR2022/013136
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English (en)
Korean (ko)
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조동일
김영석
오태호
이상훈
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서울대학교산학협력단
알에스오토메이션주식회사
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Publication of WO2024048818A1 publication Critical patent/WO2024048818A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/50—Reduction of harmonics

Definitions

  • the present invention relates to a method of automatically suppressing resonance in a servo system using an amplitude estimator and a frequency estimator. More specifically, the present invention relates to a method of automatically detecting resonance occurring in a servo system and suppressing the resonance using a frequency estimator using the output of the amplitude estimator. It's about suppression technology.
  • a method of applying a notch filter to the output current command is widely used as a method to suppress the resonance phenomenon of the servo system.
  • a notch filter is a filter that outputs a signal by removing components of a specific frequency band from an input signal. Using a notch filter, the resonance phenomenon of a servo system can be suppressed by removing the frequency component that causes resonance from the current command.
  • a conventional servo system includes a control unit and a load unit.
  • the control unit includes a servo controller, a filter unit, and a current controller.
  • the load part includes a motor, load, and encoder.
  • the load may be a plant.
  • the servo controller generates a current command (control input) to control the motor of the load unit.
  • the control input of the servo controller goes through a filter unit, and the filter unit includes filters such as a low-pass filter for noise removal and a notch filter for removing signals in a specific frequency band.
  • the current controller provides a driving current corresponding to the control input passing through the filter unit to the motor.
  • the encoder measures the state of the driven load and provides feedback information to the controller as feedback.
  • the servo controller refers to the received feedback when controlling the motor later.
  • the feedback information may be generated based on angular displacement, but is not limited to this and may be information generated based on the angular position and/or angular velocity of the control object. Since the specific configuration and operation method of the current controller, motor, and encoder are widely known in the art, their description is omitted here.
  • the frequency characteristics of the system In order to suppress the resonance, the frequency characteristics of the system must be known. For this purpose, a method of applying a sinusoidal signal to the system and obtaining the frequency characteristics of the system through frequency analysis of input and output has been widely used in the past. However, since the frequency characteristics are difficult to obtain in real time, there is a problem in that it is difficult to apply the resonance suppression method in real time.
  • Patent Document 1 and Patent Document 2 of prior art documents a method of suppressing resonance in a servo system using an adaptive notch filter and a fixed notch filter.
  • the method detects the resonance component of the system in real time, estimates the resonance frequency using a frequency estimator, and then sets the estimated frequency as the notch frequency of the adaptive notch filter to determine the resonance frequency of the system that can change depending on driving conditions. This is a way to deal with it in real time.
  • the method determines whether resonance is suppressed when the adaptive notch filter is applied, and when resonance is suppressed by applying the adaptive notch filter, sets the notch frequency of the adaptive notch filter to the notch frequency of the fixed notch filter, and sets the notch frequency of the adaptive notch filter to the notch frequency of the fixed notch filter. Fix it. Additionally, when a plurality of fixed notch filters are required, the sizes of resonances can be compared and the fixed notch filter for suppressing small resonances can be replaced with a fixed notch filter for suppressing large resonances. The method provides great convenience to users by suppressing resonance in real time without obtaining the frequency characteristics of the plant.
  • the conventional frequency estimator has the characteristic that the estimation speed is proportional to the difference between the estimated frequency, which is the output value of the frequency estimator, and the frequency of the input signal, and the size (amplitude) of the input signal (Non-patent Document 1 of the prior art document) .
  • the frequency estimator is designed so that the speed of estimating the frequency does not vary significantly depending on the frequency band of the input signal, and is applied to the resonance suppression method of the servo system using the adaptive notch filter and the fixed notch filter to reduce the resonance of the industrial servo system. It has been widely used in frequency estimation (applied to RS Automation Co., Ltd.'s D8 series and CSD7 series).
  • the frequency estimator has the disadvantage that the frequency estimation speed varies depending on the size of the input signal. Therefore, when the size of the input signal is small, the estimation speed is slow, so when a small resonance occurs in an actual servo system, there is a disadvantage in estimating the frequency of the resonance slowly.
  • Patent Document 1 KR 10-1757267 B1
  • Patent Document 2 KR 10-1708739 B1
  • Non-patent Document 1 W. Bru, T. Kim, S. Lee, and D. Cho, “Resonant frequency estimation for adaptive notch filters in industrial servo systems,” Mechatronics, vol.41, pp. 45-57, 2017.
  • the present invention was created to solve the above-mentioned problems.
  • the output of the amplitude estimator is utilized to the frequency estimator to relax the proportional relationship between the amplitude of the input signal and the estimated speed of the frequency estimator, thereby creating resonances of various amplitudes.
  • the goal is to provide a servo system resonance suppression device that can quickly estimate and respond to this.
  • Another object of the present invention is to provide a method of suppressing resonance of a servo system using the above device.
  • Another object of the present invention is to provide a computer program stored in a medium to execute the method for suppressing resonance of the servo system.
  • a resonance suppression device for a servo system includes an amplitude estimator that outputs an amplitude estimate value, which is an estimate of the amplitude of resonance generated from a current command received from a servo controller; And a frequency estimator that estimates the frequency of resonance generated from the current command in real time using the amplitude estimate value and outputs an estimated frequency; including, detecting and determining resonance of the servo system based on the current command and the estimated frequency. and a resonance suppressor that suppresses resonance.
  • the amplitude estimator uses at least one of the adaptive filter state of the frequency estimator, the estimated frequency of the previous sample, the current command, and statistics of the current command to generate resonance generated from the current command.
  • the amplitude of can be estimated.
  • the frequency estimator estimates the frequency of the current command, which is an input signal, using at least one of the current command, the amplitude estimate value, the adaptive filter state, and the estimated frequency of the previous sample. You can.
  • the frequency estimator may divide the small amount of change in the estimated frequency by the amplitude estimate value and integrate it to output the estimated frequency.
  • the frequency estimator divides the slight change in the estimated frequency by the threshold when the amplitude estimate value is below a certain threshold, and divides the slight change in the estimated frequency by the amplitude estimate when the amplitude estimate value exceeds the threshold. You can.
  • the resonance suppressor may further include at least one of a filter unit and a resonance detection and determination unit.
  • the filter unit further includes an adaptive notch filter that filters the current command using the estimated frequency as a notch frequency and a plurality of fixed notch filters, wherein the fixed notch filter suppresses resonance with an adaptive notch filter.
  • the parameters of the adaptive notch filter including the notch frequency, can be used as the filter parameters of the fixed notch filter and its value can be fixed.
  • the resonance detection and determination unit uses the current command to determine whether resonance of the servo system occurs, the size of resonance, and whether resonance is suppressed, whether to use an adaptive notch filter, and whether to use a fixed notch filter. Whether or not to switch parameters, if a plurality of fixed notch filters are in use and a new resonance occurs, it is possible to determine whether to replace the fixed notch filter by comparing the size of the newly generated resonance with the size of the resonance before applying each fixed notch filter.
  • a method of suppressing resonance in a servo system includes an amplitude estimation step of outputting an amplitude estimate value, which is an estimated value of the amplitude of resonance generated from a current command received from a servo controller; A frequency estimation step of estimating the frequency of resonance generated from the current command in real time using the amplitude estimate value and outputting the estimated frequency; and a resonance suppression step of detecting, determining, and suppressing resonance of the servo system based on the current command and the estimated frequency.
  • the amplitude estimation step determines the amplitude of the resonance generated from the current command using at least one of the adaptive filter state, the estimated frequency of the previous sample, the current command, and the statistics of the current command. It can be estimated.
  • the frequency estimation step estimates the frequency of the current command, which is an input signal, using at least one of the current command, the amplitude estimate value, the adaptive filter state, and the estimated frequency of the previous sample. can do.
  • the frequency estimation step may further include dividing a small amount of change in the estimated frequency by the amplitude estimate value and integrating the divided amount to output the estimated frequency.
  • the frequency estimation step divides the small change in the estimated frequency by the threshold when the amplitude estimate value is below a certain threshold, and divides the small change in the estimated frequency by the threshold value, and divides the small change in the estimated frequency into the amplitude estimate value. It can be shared.
  • the resonance suppression step includes: a filtering step; and a resonance detection and determination step. It may include at least one more.
  • the filtering step filters the current command using the estimated frequency as a notch frequency using an adaptive notch filter and a plurality of fixed notch filters, and the fixed notch filter suppresses resonance with an adaptive notch filter.
  • the parameters of the adaptive notch filter including the notch frequency, can be used as the filter parameters of the fixed notch filter and its value can be fixed.
  • the resonance detection and determination step uses the current command to determine whether resonance of the servo system occurs, the magnitude of resonance, and whether resonance is suppressed, whether to use an adaptive notch filter, and a fixed notch filter. If a plurality of fixed notch filters are in use and a new resonance occurs, it is possible to determine whether to replace the fixed notch filter by comparing the size of the newly generated resonance with the size of the resonance before applying each fixed notch filter.
  • a computer program according to an embodiment for realizing another object of the present invention described above is combined with hardware and stored in a medium to execute a method of suppressing resonance of a servo system.
  • the amplitude estimator and frequency estimator can be used to quickly estimate and respond to resonances of various amplitudes.
  • FIG. 1 is a block diagram of a servo system according to the prior art.
  • Figure 2 is a block diagram of a servo system according to an embodiment of the present invention.
  • FIG. 3 is a block diagram showing an example of the filter unit of FIG. 2.
  • Figure 4 is a flowchart of a method for automatically suppressing resonance of a servo system according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of steps for estimating the frequency of FIG. 4 in real time.
  • Figure 2 is a block diagram of a servo system according to an embodiment of the present invention.
  • the servo system 1 automatically detects resonance occurring in the servo system 1 based on the frequency estimator 110 using the output of the amplitude estimator 130 and includes a resonance suppressor that suppresses the resonance. 10) Includes.
  • the servo system 1 may include a control unit 30, a resonance suppression unit 10, and a load unit 50.
  • the control unit 30 may include a servo controller 310 and a current controller 330.
  • the servo controller 310 and current controller 330 may perform the same functions as the servo controller and current controller described in FIG. 1. That is, the servo controller 310 can generate a current command, and the current controller 330 can generate a driving current according to the current command.
  • the load unit 50 may include a motor 510, a load 530, and an encoder 550.
  • the function of each component may be the same as the motor, load, and encoder described in FIG. 1.
  • the resonance suppressor 10 includes a frequency estimator 110 and an amplitude estimator 130, detects and determines resonance of the servo system 1, and suppresses resonance.
  • the amplitude estimator 130 outputs an amplitude estimate value, which is a value that estimates the amplitude of resonance generated from the current command generated from the servo controller 310, and the frequency estimator 110 uses the amplitude estimate value to calculate the amplitude from the current command.
  • the frequency of the generated resonance is estimated in real time and the estimated frequency is output.
  • the resonance suppressor 10 may further include at least one of a filter unit 170 and a resonance detection and determination unit 150.
  • the frequency estimator 110 receives the current command as input and estimates the frequency of the current command in real time.
  • the frequency estimator 110 can continuously estimate the frequency of the current command using the amount of change in the estimated frequency with respect to the frequency of the current command in each operation cycle so that the output estimated frequency is the resonance frequency shown in the current command. there is.
  • the frequency estimator 110 may estimate the frequency of the current command by integrating a small amount of change in the estimated frequency calculated for each operation cycle.
  • the output of the frequency estimator 110 in a steady-state becomes an estimated frequency for the resonant frequency of the current command.
  • a conventional frequency estimator may be designed as an adaptive filter-based frequency estimator expressed by Equation 1 below.
  • the state of the adaptive filter is the attenuation ratio of the adaptive filter, is the estimated frequency, is the frequency estimation gain, is an input signal and represents a current command in the present invention.
  • the conventional frequency estimator is a small change in the estimated frequency every unit time. Calculate and integrate to estimate the frequency of the input signal.
  • the size (amplitude) of the input signal is And the frequency is In case of a sinusoidal signal , the steady-state of the adaptive filter can be expressed as Equation 2 below.
  • Equation 2 By substituting Equation 2 into the equation for calculating the slight change in estimated frequency in Equation 1, it can be calculated as in Equation 3 below.
  • the estimation speed of the conventional frequency estimator expressed in Equation 1 has characteristics that are proportional to the difference between the estimated frequency and the frequency of the input signal and the size of the input signal.
  • Conventional frequency estimators are designed so that the speed of estimating the frequency does not vary significantly depending on the frequency band of the input signal, and have been widely used to estimate the resonance frequency of industrial servo systems.
  • the frequency estimator has the disadvantage that the frequency estimation speed varies depending on the size of the input signal. Therefore, when the size of the input signal is small, the estimation speed is slow, so when a small resonance occurs, there is a disadvantage in estimating the frequency of the resonance slowly.
  • the frequency estimator 110 determines the proportional relationship between the amplitude of the input signal and the estimated speed using the amplitude estimate value, which is the output value of the amplitude estimator 130, which estimates the amplitude of the resonance generated from the current command. It can be alleviated.
  • the size (amplitude) of the input signal is And the frequency is In case of a sinusoidal signal , the amplitude estimator 130 may be designed using Equation 4 or Equation 5 below.
  • the method of estimating the amplitude of the input signal is not limited to Equation 4 and Equation 5 below, and the input signal, statistical value of the input signal, state of the adaptive filter, etc. in the servo system 1 It can be calculated using obtainable values.
  • Equation 4 is a method of calculating the amplitude of the input signal using the input signal and its statistical values.
  • time delay inevitably occurs because the variance from before a specific unit of time to the present must be calculated, and the expected value of the sinusoidal input signal may not be 0 depending on the sampling time.
  • Equation 5 is a method of estimating the amplitude of the input signal using the state of the frequency estimator adaptive filter of Equation 1 and the estimated frequency of the previous sample.
  • the estimated amplitude value in the steady state can be calculated, and the estimated amplitude value is calculated according to the frequency of the input signal and the estimated frequency. Accuracy may vary.
  • the frequency estimator 110 When calculating a small change in the estimated frequency, the frequency estimator 110 according to an embodiment of the present invention divides the small change in the estimated frequency by the estimated amplitude value, so that the estimated speed of the conventional frequency estimator depends on the amplitude of the input signal. Proportionality can be relaxed.
  • the frequency estimator 110 can be designed as an adaptive filter and amplitude estimate-based frequency estimator expressed as Equation 6 below using the conventional frequency estimator expressed as Equation 1 above. there is.
  • Equation 7 The size (amplitude) of the input signal is And the frequency is In case of a sinusoidal signal , Substituting Equation 2 and Equation 5 into the equation for calculating the slight change in estimated frequency in Equation 6, it is calculated as in Equation 7 below.
  • Equation 6 When designing a frequency estimator as in Equation 6, the influence of the size of the input signal is divided in Equation 3, so that the estimated speed of the frequency estimator of the conventional frequency estimator expressed in Equation 1 is the input signal The characteristics proportional to the size of can be relaxed.
  • FIG. 3 is a block diagram showing an example of the filter unit of FIG. 2.
  • the filter unit 170 may include an adaptive notch filter 171 and a plurality of fixed notch filters 174 and 176 connected in series.
  • an adaptive notch filter 171 and a plurality of fixed notch filters 174 and 176 connected in series.
  • one adaptive notch filter and two fixed notch filters are shown, but the order and number are merely exemplary, and various filters such as a low-pass filter for noise reduction may be further included.
  • the adaptive notch filter 171 may filter the current command using the estimated frequency estimated by the frequency estimator 110 as the notch frequency and provide the filtered current command to the current controller 330.
  • the adaptive notch filter 171 may be designed as a second-order notch filter expressed by Equation 8 below, but the present invention is not limited thereto.
  • the notch frequency of the adaptive notch filter 171 is the estimated frequency of the frequency estimator 110 and may change with time.
  • the adaptive notch filter including the notch frequency ( It is characterized by using the parameters of 171) as parameters of the fixed notch filters 174 and 176 and fixing the values.
  • the fixed notch filters 174 and 176 may be designed as secondary notch filters expressed by Equation 9 below, similar to Equation 8, but the present invention is not limited thereto.
  • the notch frequency of the fixed notch filters 174 and 176 represents the damping factor of the fixed notch filter.
  • the notch frequency and attenuation ratio of the fixed notch filters 174 and 176 are values received from the adaptive notch filter when the resonance detection and determination unit 150 determines that resonance is suppressed, and do not change with time.
  • the resonance detection and determination unit 150 receives a current command generated from the servo controller 310 as an input signal, and determines whether resonance occurs and resonance is suppressed in the servo system from the current command, and whether resonance occurs. The size of can be sensed. That is, the resonance detection and determination unit 150 can determine whether resonance of the load unit 50 occurs or is suppressed from the current command generated according to the signal fed back from the encoder.
  • the resonance detection and determination unit 150 uses values that can determine the occurrence of resonance, such as the current command that can be obtained from the servo system 1 and statistical values using the same, and makes the estimate when the value exceeds a certain threshold. It may be designed to determine whether or not to apply a frequency to the adaptive notch filter 171.
  • the parameters of the adaptive notch filter 171 are set to the parameters of the fixed notch filters 174 and 176, and the values are set. It can be designed to fix.
  • the resonance detection and determination unit 150 determines whether a new resonance occurs, sets the notch frequency of the adaptive notch filter to the estimated frequency of the new resonance, and suppresses the new resonance. It may be designed to operate by repeating the process of determining and setting parameters of a fixed notch filter other than the fixed notch filter set before occurrence of a new resonance.
  • the resonance detection and determination unit 150 stores the size of the resonance using a value that can determine the occurrence of the resonance, and when all of the plurality of fixed notch filters 174 and 176 are in use and a new resonance occurs, a new resonance is generated. It can be designed to determine whether to replace the fixed notch filter by comparing the size of the generated resonance with the size of the resonance before setting the parameters of each fixed notch filter.
  • the resonance detection and determination unit 150 does not perform a separate operation when all of the plurality of fixed notch filters 174 and 176 are in use and the size of the newly generated resonance is smaller than the resonance before the parameter setting of each fixed notch filter. can be designed.
  • the adaptive notch filter 171 is operated to determine whether or not the resonance is suppressed. If it is determined that the resonance is suppressed, the size of the resonance is small. It may be designed to replace and fix the parameters of the fixed notch filter with the parameters of the adaptive notch filter 171.
  • the existing fixed notch filter may be designed to continue to be used.
  • the resonance detection and determination unit 150 may be designed to replace and maintain the fixed notch filters 174 and 176 by repeating the above process when all of the plurality of fixed notch filters 174 and 176 are in use.
  • FIG. 4 is a flowchart of a method for suppressing resonance of a servo system according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of steps for estimating the frequency of FIG. 4 in real time.
  • the method of suppressing resonance of a servo system may be carried out in substantially the same configuration as the resonance suppressing unit 10 of the servo system 1 of FIG. 2. Accordingly, the same components as those of the resonance suppressor 10 of FIG. 2 are given the same reference numerals, and repeated descriptions are omitted.
  • the method for suppressing resonance of a servo system can be executed by software (application) for suppressing resonance of a servo system.
  • the method of suppressing resonance in a servo system includes calculating an estimated amplitude of resonance generated from a current command generated from a servo controller (step S10), and determining the frequency of resonance generated from the current command based on the estimated amplitude value. It may include estimating in real time (step S30), detecting and determining resonance of the servo system using the current command and the estimated frequency, and suppressing it (step S50).
  • the amplitude estimation step may estimate the amplitude of the resonance generated from the current command using the adaptive filter state, the estimated frequency of the previous sample, the current command, and the statistics of the current command. there is.
  • the frequency estimation step may estimate the frequency of the input signal using the current command, the amplitude estimate value, the adaptive filter state, and the estimated frequency of the previous sample.
  • the slight change in the estimated frequency can be divided by the amplitude estimate value and integrated to output the estimated frequency.
  • step S31 in order to prevent division by 0 when dividing by the amplitude estimate value, it is first determined whether the amplitude estimate value is below a specific preset threshold value (step S31).
  • the estimated amplitude value is below a certain threshold, it can be calculated by dividing the small change in the estimated frequency by the threshold (step S33), and if it exceeds the threshold, the small change in the estimated frequency can be divided by the estimated amplitude value (step S35). .
  • the step of detecting and determining resonance of the servo system and suppressing it may further include a filtering step and a resonance detection and determination step.
  • the filtering step further includes an adaptive notch filter and a plurality of fixed notch filters for filtering the current command using the estimated frequency as a notch frequency, wherein the fixed notch filter is an adaptive notch filter that notches when resonance suppression is confirmed. It is characterized by using parameters of the adaptive notch filter, including frequency, as filter parameters of the fixed notch filter and fixing their values.
  • the resonance detection and determination step uses the current command to determine whether resonance occurs in the servo system, the size of resonance, and whether resonance is suppressed, whether to use an adaptive notch filter, and whether to switch parameters to a fixed notch filter. , if a plurality of fixed notch filters are in use and a new resonance occurs, it can be determined whether to replace the fixed notch filter by comparing the size of the newly generated resonance with the size of the resonance before applying each fixed notch filter.
  • This method of suppressing resonance of a servo system may be implemented as an application or in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium.
  • the computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination.
  • the program instructions recorded on the computer-readable recording medium may be those specifically designed and configured for the present invention, or may be known and usable by those skilled in the computer software field.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. media), and hardware devices specifically configured to store and perform program instructions, such as ROM, RAM, flash memory, etc.
  • Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware device may be configured to operate as one or more software modules to perform processing according to the invention and vice versa.

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  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Feedback Control In General (AREA)

Abstract

Cet appareil pour supprimer la résonance d'un système d'asservissement comprend une unité de suppression de résonance qui comprend : un estimateur d'amplitude pour délivrer une valeur d'estimation d'amplitude qui est une valeur obtenue par l'estimation d'une amplitude de résonance générée à partir d'une commande de courant reçue en provenance d'un dispositif de commande d'asservissement ; et un estimateur de fréquence pour délivrer une fréquence estimée par l'estimation, en temps réel, d'une fréquence de la résonance générée à partir de la commande de courant à l'aide de la valeur d'estimation d'amplitude, et qui détecte et détermine la résonance du système d'asservissement sur la base de la commande de courant et de la fréquence estimée et supprime la résonance. Par conséquent, dans une situation dans laquelle la résonance de diverses amplitudes se produit dans un système d'asservissement, la résonance de diverses amplitudes peut être rapidement estimée pour répondre à celle-ci.
PCT/KR2022/013136 2022-08-31 2022-09-01 Appareil et procédé pour supprimer automatiquement la résonance d'un système d'asservissement WO2024048818A1 (fr)

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Publication number Priority date Publication date Assignee Title
US7068923B2 (en) * 2002-11-26 2006-06-27 Mitsubishi Denki Kabushiki Kaisha Speed control apparatus of motor
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