ACサーボの速度制御系における加速トルク成分を考慮した操作量飽和対策

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2017/05/01

タイトル(英語): Anti-Windup Control Considering the Acceleration Torque Component for the Speed Control System of an AC Servo

著者名: 上町　俊幸（石川工業高等専門学校），徳野　隆介（長岡技術科学大学），大石　潔（長岡技術科学大学）

著者名(英語): Toshiyuki Kanmachi (National Institute of Technology, Ishikawa College), Ryusuke Tokuno (Nagaoka University of Technology), Kiyoshi Ohishi (Nagaoka University of Technology)

キーワード: 速度制御系，PI制御，操作量飽和，外乱オブザーバ　　speed control system，PI control，controller output saturation，disturbance observer

要約(英語): The speed control system of an AC servomotor generally comprises a proportional-integral (PI) controller and current limiter. When the output of the speed PI controller is limited by the current limiter, a windup phenomenon and unstable response often occur. This paper proposes a new anti-windup control for the speed control system of an AC servomotor. In the conventional method, when the output of the speed PI controller is limited by a current limiter, the input of the integrator is revised by using the difference between the input and output of the limiter. In the proposed method, the input of the integrator is revised by considering an accelerating torque component. This allows the output of the integrator to converge to the torque current corresponding to the load torque. As a result, speed overshooting is suppressed, and a good transient response is provided. Furthermore, using a weight function to revise the input of the integrator can further suppress overshooting. The effectiveness of the proposed anti-windup control method was verified through experiments and numerical simulation.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.137 No.5 （2017）

本誌掲載ページ: 427-436 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/137/5/137_427/_article/-char/ja/