SPEED CONTROL METHOD WITH THE ACTIVATION FUNCTION AND TORQUE COMPENSATOR

摘要

PURPOSE: A speed control method with an activation function and a torque compensator is provided to prevent a speed ripple by using the size and the direction of a compensation torque based on a differentiated velocity error. CONSTITUTION: A velocity error(Werr) is calculated from a commend speed(Wref) and an actual velocity(Wact). The output(Trm) of a controller is calculated by performing a PI control and compensation torque calculation on the velocity error. A torque variation(ΔTrm) is determined by controller output and command torque. An anti-accumulation gain and the calculated torque variation are used as the input of a first control. The output of the compensatory torque signal is determined by the denotation of the velocity error and denotation of the differentiated velocity error.