TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
Permanent Magnet Synchronous Motor Controller
(Controler cu observator de cuplu pentru maşini sincrone cu magneţi permanenţi)
Vol LVIII • No. 2bis/2006
Călin Rusu, Szabo-Benk Enikő, Iulian Birou
Technical University of Cluj-Napoca
e-mail: calin.rusu@edr.utcluj.ro

 Keywords   Motion Control, Servo System, Vector Control, PM Synchronous Motor, Load torque observer.

 Abstract
Permanent Magnet Synchronous Motors (PMSM) have wide applications in industry, especially in AC servo drives such as industrial robots. Motion control of multi-axis robots demand to compensate various kinds of non-linear dynamical forces. These forces can be considered as a disturbance for the electrical servo drive. A controller with load torque observer is proposed against the external disturbances associate with the mechanical and/or electrical subsystem. Digital Signal Processors (DSP) has greatly enhanced the potential of PMSM in servo applications. The controller drives the PMSM by using the field-orientation control mode. This method laid the motor at maximum theoretical performance. In order to prove its effectiveness the controller is applied for the second and third joints of a robot arm.

 Rezumat
Servo sistemele de acţionare cu maşini sincrone cu magneţi permanenţi sunt astăzi larg răspīndite īn aplicaţiile industriale, mai cu seamă īn acţionarea roboţilor industriali. Controlul mişcării unui sistem robotic multi-axă pretinde compensarea diferitelor tipuri de forţe şi/sau cupluri dinamice neliniare care apar datorită interacţiunilor dintre axele robotului. Aceste cupluri pot fi considerate ca perturbaţii externe pentru servo sistemele electrice de acţionare. In cadrul prezentei lucrări se propune utilizarea unui controler cu observator de cuplu de sarcină care să compenseze perturbaţiile externe asociate cu subsistemul mecanic al robotului. Utilizarea procesoarelor digitale de semnal permite implementarea algoritmilor de control ce utilizează observatorul de cuplu. Un astfel de controler - DSK243, bazat pe controlul cu orientarea dupa cāmpul rotoric pentru maşina sincronă cu magnet permanent este propus pentru acţionarea axelor unui robot industrial de tip IRB1400 ABB. Pentru a arăta viabilitatea acestei soluţii se prezintă rezultatul obţinut īn acţionarea articulaţiilor 2 şi 3 ale robotului īn situaţia īn care profilul vitezei este de tip parabolic.



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