An EKF based Solution for the Compensation of Load, Friction and Torque Ripple in Direct Drive Systems

O. Seta Bogosyan*, Metin Gokasan

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

Abstract

This study aims to achieve an improved performance in the position control of a permanent magnet synchronous motor(PMSM) driven single link arm, by compensating for load, friction and torque ripple effects. For this purpose, in the first part of the study, an EKF based algorithm is developed to estimate the model uncertainties, assuming a known load. This is used to determine friction effects in addition to the most dominant component of torque ripple. The estimate of model uncertainties is also used for the partial compensation of this term with a basic PD+ controller. Following this procedure, another EKF algorithm is developed to estimate the amplitude of the dominant torque harmonic to be used for the compensation of that ripple component with the PD+ controller, in addition to the compensation of friction and load. The experimental results demonstrate improved performance in the system response with the on-line estimation of the torque ripple with EKF.

Original languageEnglish
Pages1414-1418
Number of pages5
DOIs
Publication statusPublished - 2003
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2 Nov 20036 Nov 2003

Conference

ConferenceThe 29th Annual Conference of the IEEE Industrial Electronics Society
Country/TerritoryUnited States
CityRoanoke, VA
Period2/11/036/11/03

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