抄録
The position information based disturbance observer estimates both a disturbance torque and a motor speed by using the information of a rotor position and a torque current. The speed control system using the position information based disturbance observer has already been realized and used in industrial robotics applications. It is expected to be useful and practical for several industrial motor drive applications. However, the conventional position information based disturbance observer has influence of overflow and underflow of encoder pulse counter directly. When the encoder pulse counter has an overflow or underflow phenomenon, the speed control system using the conventional observer has a wrong or oscillated speed response.
In order to overcome this problem, this paper proposes a new rotor position information based disturbance and speed observer having no influence of the overflow and underflow of encoder pulse counter. When the encoder pulse counter has an overflow or underflow phenomenon, the proposed observer well estimates a motor speed and a disturbance torque stably and quickly, and the speed control system using the proposed observer has a stable and robust speed response.
