JP2015045937A5 - - Google Patents

Description

FIG. 6 is a control block diagram relating to the n-th order torque ripple frequency component of the periodic disturbance observer known from Patent Document 1 and Non-Patent Document.
Reference numeral 1 denotes a torque ripple compensation value calculation unit. The difference between the control command rn (usually 0) of the sine wave / cosine wave and the estimated values dT _A ^ n and dT _B ^ n by the periodic disturbance observer 3 is a sine wave / cosine wave, respectively. A torque ripple compensation command Tc * n is generated by multiplying the values and adding them, and is output to the controlled object 2. In the controlled object 2, a periodic disturbance (hereinafter referred to as a periodic disturbance dTn) may occur. For example, the controlled object corresponds to the torque ripple which is a disturbance synchronizing rotation speed due to cogging torque click if the motor becomes a factor of vibration and noise.

FIG. 1 shows a control configuration by a periodic disturbance observer according to the first embodiment of the present invention, wherein 10 is a model correcting means, and 20 is an arithmetic unit according to the present invention. Prior to the description of the present invention, correction / learning by the model correction means 10 will be described. The symbols in FIG. 1 are as follows.
p _n : Plant (control target), d ^ _n : Periodic disturbance estimated value (system identification model),
y _n : Control target output (corresponding to T _A n and T _B n in FIG. 6),
r _{n: n} The following control command, d _{n: n} Tsugigairan value,
d ^ _n .t: nth-order compensation command at time t (corresponding to dT _{A ^} n and dT _{B ^} n in FIG. 6),
p ^ _n : Identification model, y ^ _n : Estimated output of the plant of the identification model p ^ _n , _where d ^ _n .
PDO: Periodic disturbance observer, y _n .t: n-order output at time t, value in s region indicates time t after the comma of the subscript.

This embodiment reduces the error of system model estimation. There is an error in the system model error correction result of the periodic disturbance observer PDO, and there is an error even when there is a difference from the assumption of the two-inertia system (actually, it is a multi-inertia system more than two-inertia system). Will occur. Therefore, in the state where the system model error correction is repeatedly performed and the system model estimation is performed, K / j ₁ , K / j _{2 of} the first to (12) formulas, or j ₁ , j _{2 of the} second embodiment. , K is obtained, an average process with the past value , for example, a moving average is performed to update each value.

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