A speed servo drive with disturbance observer and the moment of inertia identification

Author

Belai, Igor ; Huba, M.

Author_Institution

Inst. of Automotive Mechatron., Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia

fYear

2014

fDate

16-18 Oct. 2014

Firstpage

906

Lastpage

911

Abstract

The paper introduces a speed servo drive with an automatic parameter tuning. A proportional controller (P-controller), a disturbance observer (DO) and a filter of the actual speed are used in the speed control loop. This structure is characterized by a low ripple of the manipulated variable. The identified value of the inertia moment is used to calculate the gain of the speed controller. An algorithm for the identification of the moment of inertia is described in the paper. It is not sensitive to the viscous friction and the accuracy of the identification is not affected by the dynamics of the speed control loop. Properties of the proposed solution have been tested by experiments and by simulations.

Keywords

angular velocity control; machine control; motor drives; observers; proportional control; servomechanisms; automatic parameter tuning; disturbance observer; moment of inertia identification; proportional controller; speed control loop; speed servo drive; Accuracy; Filtering algorithms; Friction; Observers; Servomotors; Torque; Transfer functions; disturbance observer; identification; moment of inertia; torque generator; variable speed drive;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Power Engineering (EPE), 2014 International Conference and Exposition on

Conference_Location

Iasi

Type

conf

DOI

10.1109/ICEPE.2014.6970043

Filename

6970043