Numéro |
J. Phys. III France
Volume 2, Numéro 1, January 1992
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Page(s) | 129 - 144 | |
DOI | https://doi.org/10.1051/jp3:1992115 |
J. Phys. III France 2 (1992) 129-144
A robust total compensation algorithm for the torque control of a synchronous servomotor
B. Le Pioufle1, G. Georgiou2 and J.-P. Louis11 Laboratoire d'Electricité, Signaux et Robotique CNRS/LESIR, ENS de Cachan, 61 av. du Pt. Wilson, 94230 Cachan, France
2 Laboratoire des Signaux et Systèmes CNRS/ESE, Plateau du Moulon, 91192 Gif-sur-Yvette, France
(Received 11 April 1991, revised 2 September 1991, accepted 20 September 1991)
Abstract
In this paper, we present a performing torque controller for a synchronous servomotor. As we will see, this controller, called
the total compensation controller, brings a new solution to the defects of the well known proportional integral controller
in the D-Q frame, omnipresent in industrial applications. Here, we propose a comparative study of these two algorithms, the
main problem of the proportional integral controller in the D-Q frame being its high sensitivity to the speed's dynamics.
We show that the total compensation controller resolves this problem. Nevertheless, the total compensation controller algorithm
requires a measurement of the mechanical speed. Thus, we had to test its robustness with respect to an imprecise measurement
of the motor velocity. As we will see, this controller is not robust enough. In order to improve this robustness, we propose
a solution : the total compensation controller with integrators. This last controller, which has been implemented with a broadly
diffused microprocessor (Intel 8086), presents convincing features : a fast torque response time for any dynamics of the mechanical
speed, with a very good robustness.
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