電流指令急変と高速回転の両者に起因する電圧飽和に対応したPMサーボモータの電流指令補正方法

抄録

This paper proposes a new anti-windup method for PM (permanent magnet) servo motor control that compensates for the current commands based on both the amount of transient voltage saturation at high acceleration calculated from the proportional current control model and the amount of voltage saturation of the PI current controller at high speed. Experimental results show that our proposed method can suppress the wind-up phenomenon and maintain stability under voltage saturation caused by high speed, high response, high acceleration, and severe voltage sag. Thus, the proposed method can improve the productivity of industrial machines, and is especially effective for PM servo motor control that has a large inductance, such as DDM (direct drive motor) and the IPM (interior permanent magnet) motor.