US 5,666,034 A · Method for controlling velocity of a rotary motor and an apparatus therefor

Abstract

A velocity control method for a rotary motor and an apparatus adopting the same estimates and corrects a disturbance applied to the rotary motor to improve a velocity control characteristic. The disturbance is expressed as a function of an angular velocity and an angular position via a simple calculation process. The velocity control apparatus includes a learning compensator for receiving a velocity command, angular position information and the output of a velocity controller and correcting an effect of the disturbance which is expressed as a function of the angular velocity and the angular position, in addition to a general velocity control loop of a rotary motor composed of a velocity controller, a current controller, a motor and a velocity measuring unit. The learning compensator stores one period of the output of the velocity controller at a steady state of the velocity control loop and obtains a correction value using the stored value and the previous output value. The correction value obtained in the learning compensator is stored in advance and velocity control is performed using the stored value.

Claims9

Dependent claims

A velocity control apparatus for a rotary motor, the velocity control apparatus comprising:

velocity measuring means for obtaining a velocity error by comparing an input reference angular velocity with an actual angular velocity detected from the motor;
a velocity controller for receiving the velocity error and outputting a current command for controlling the angular velocity of the motor;
a learning compensator for receiving the input reference angular velocity and the current command output from the velocity controller and an angular position of the motor and for correcting an effect of the disturbance expressed as a function of the angular position and the angular velocity of the motor via a plurality of repetitive learning steps;
current command compensating means for obtaining a corrected current command by adding the current command output from the velocity controller and the disturbance correction value obtained in the learning compensator;
and
a current controller for receiving the corrected current command and outputting a torque command to the motor.

3 more elements

A velocity control method for a rotary motor, the velocity control method comprising the steps of:

(a) obtaining a velocity error by comparing an input reference angular velocity with an actual angular velocity detected from the motor;
(b) receiving the velocity error and outputting a current command for controlling the angular velocity of the motor;
(c) receiving the input reference angular velocity, the current command and the angular position of the motor and outputting a disturbance correction value for correcting an effect of the disturbance expressed as a function of the angular position and the angular velocity of the motor via a plurality of repetitive learning steps;
(d) obtaining a corrected current command by adding the current command and the disturbance correction value;
(e) receiving the corrected current command and outputting a torque command to the motor;
and
(f) detecting a present angular velocity of the rotating motor according to the torque command.

4 more elements

Dependencies are inferred from the claim text.

Method for controlling velocity of a rotary motor and an apparatus therefor

Life of this patent

Method for controlling velocity of a rotary motor and an apparatus therefor

Life of this patent

Abstract

Claims9