A practical modeling approach of disturbances for electromechanical servo systems

Author

Huo Xin ; Tong Xingang ; Liu Renzhan ; Zhang Xi ; Chen Songlin

Author_Institution

Control & Simulation Center, Harbin Inst. of Technol., Harbin, China

fYear

2014

fDate

28-30 July 2014

Firstpage

6647

Lastpage

6652

Abstract

Considering a class of electromechanical servo systems with high precision and high dynamic demands, the main composition of the disturbance torque is analyzed, and a new practical modeling approach is proposed in this paper. By utilizing the test data, the friction torque is fitted by a piecewise linear function according to the analysis of friction mechanism, and the mathematical expression of motor ripple torque is formulated by adopting the method of harmonic analysis. The effectiveness of disturbance model is verified through the comparison of simulation and experiment.

Keywords

harmonic analysis; piecewise linear techniques; servomotors; disturbance modeling approach; disturbance torque composition; electromechanical servo systems; friction mechanism analysis; friction torque; harmonic analysis method; mathematical expression; motor ripple torque; piecewise linear function; test data; Analytical models; Friction; Harmonic analysis; Mathematical model; Servomotors; Synchronous motors; Torque; Disturbance Torque; Harmonic Analysis; Piecewise Linear Function; Simulink;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896091

Filename

6896091