The servo motor systems with the PMSM have been widely used for industry applications, home electric appliances, and so on, due to the progress of the power electronics, because of simple structure, easy maintenance, high efficiency, etc.. Moreover, because the PMSM can realize the same high performance as DC motor, it is used in the fields where the high speed and high accuracy control is required. However, when the PMSM rotates, the motor frame is vibrated due to the torque ripple of the PMSM and so on. Also, when frequency of the motor frame vibration is especially close to the resonant frequency of the mechanical system, large vibration and acoustic noise are produced.
In this paper, authors propose a suppression control method of the vibration for PMSM utilizing feedforward compensation control, and a generation method of compensation signals for the feedforward control by repetitive control with the auto-tuning function, and Fourier transform using a vibration signal acquired by an acceleration sensor attached to the motor frame, considering periodicity. However, the proposed auto-tuning function is not perfect. So a method to cope with this imperfectness is also presented.
An experimental system to detect and reduce the vibration is constructed, and the effectiveness of the proposed method is confirmed by experimental results.