Autocompensation of torque ripple of direct drive motor by torque observer
- 1 January 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industry Applications
- Vol. 29 (1) , 187-194
- https://doi.org/10.1109/28.195906
Abstract
Since a direct drive motor (DDM) does not require a reduction gear, the drive system can be made simple, and therefore it is used in high-precision robot and machine tool applications. However, without reduction gear, a disturbance torque is directly reflected to the motor shaft, and a torque ripple generated by the motor is directly transmitted to the load, causing poor speed control characteristics. An improved torque control system for DDM with a permanent magnet rotor, equipped with a torque observer implemented by digital signal software, is proposed. The speed fluctuation can be fully removed with a torque feedforward loop.Keywords
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