Autocompensation of torque ripple of direct drive motor by torque observer
- 1 January 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industry Applications
- Vol. 29 (1), 187-194
- https://doi.org/10.1109/28.195906
Abstract
Since a direct drive motor (DDM) does not require a reduction gear, the drive system can be made simple, and therefore it is used in high-precision robot and machine tool applications. However, without reduction gear, a disturbance torque is directly reflected to the motor shaft, and a torque ripple generated by the motor is directly transmitted to the load, causing poor speed control characteristics. An improved torque control system for DDM with a permanent magnet rotor, equipped with a torque observer implemented by digital signal software, is proposed. The speed fluctuation can be fully removed with a torque feedforward loop.Keywords
This publication has 5 references indexed in Scilit:
- Sliding mode control of a direct drive robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Robust optimal control of a DC motorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- DSP‐based high‐precision torque control of permanent magnet DD (direct drive) motorElectrical Engineering in Japan, 1990
- Minimization of Torque Ripple in Brushless DC Motor DrivesIEEE Transactions on Industry Applications, 1986
- On the Control of Linear Multiple Input-Output Systems*Bell System Technical Journal, 1971