位相進み補償器を用いた外乱オブザーバおよび電動パワーステアリング向けモータ電流制御への適用(機械力学,計測,自動制御) Disturbance Observer with a Phase-Lead Compensator and Its Application for Current Controller of EPS Motor(Mechanical Systems)
This paper presents a new motor current control strategy to reduce current fluctuation. Such current fluctuation may cause undesirable torque ripple and acoustic noise for tactile torque control system such as EPS. Using a DC-motor, current fluctuation associated with change in the battery voltage, etc., may occur. We have developed a new current control strategy which effectively alleviates current fluctuations of the motor without using higher performance microprocessors. The new controller is based on the newly proposed disturbance observer with phase compensator to estimate the disturbance voltage and compensation for it. We have analyzed the sensitivity to the disturbance, that is to say, the transfer function from disturbance to electric current and show that by using high pass filter, the transfer function has the notch filter characteristics against disturbance without causing change in transfer function from reference current to actual current. We have bench-tested the performance of this control strategy and confirmed that current fluctuation is reduced to coincide with the analytical result.
- 日本機械学會論文集. C編
日本機械学會論文集. C編 76(770), 2568-2577, 2010-10-25