Dominik Luczak

Speed control in direct drive with non-stiff load

In this paper several digital filters are considered to handle resonance modes in direct drive servo-mechanical systems. Comparisons are made between the Chebyshev low pass filter, notch filter and bi-quad filter. The effectiveness of the presented methods is verified by simulation and in the laboratory.

Mathematical model of multi-mass electric drive system with flexible connection

The article describes mathematical model of multi-mass electric drive system with flexible connection. Mechanical part was modeled as one-, two- and multi-mass. System with rigid, flexible and damping connection was considered. Model was shown in form of the equations of motion, state space and transfer function.

Tunable digital filter structures for resonant frequency effect reduction in direct drive

The paper presents the structure of the filters used to filter the signal speed in the drive with elastic connection. The use of a filter is recommended in case when the control system is not able to actively suppress the mechanical resonance frequency. Filters described in the literature are presented in the form of continuous operation. The control system requires the implementation of digital filters. Digital filters are presented with those formulas which allow for tuning the filters in real time.

Frequency analysis of mechanical resonance in direct drive

This paper presents analysis of mechanical resonance in direct drive servo-mechanical systems. For this purpose frequency analysis was used. Motor speed signal was analysed by Fourier transform to find mechanical resonance frequencies. Presented methods were verified by simulation.

Identification of multi-mass mechanical systems in electrical drives

This paper presents methods for parameter identification of mechanical resonance of two-mass and multi-mass electrical drive system. The presented methods were applied in the field of parameter identification. Various identification setups are considered: different identification models (ARX and OE), sampling periods and models orders. Results for two different excitation signals are presented: pseudo random binary signal and chirp wave. Spectral analysis is used to calculate frequency response data of electric drive with elastic connection. The discussed methods of identification are verified by both simulation and laboratory stand test.

Two Approaches to Speed Control for Multi-Mass System With Variable Mechanical Parameters

This paper is dedicated to the motion control system of a multimass mechanism with occurring resonances and variable moment of inertia. The proposed concept of control structure for such mechanism consists of a filter damping higher resonance frequencies and an adaptive speed controller. The filter has properly selected fixed characteristics giving a compromised filtering effect in a range of resonance frequency variation, caused by the variable moment of inertia. The used neural adaptive controller realizes active damping of lower resonance frequencies, which are not eliminated by the resonance filter. This original concept is compared with a more complex solution, treated as a reference, which contains an offline-tuned resonance filter together with an offline-adjusted PI-two degrees of freedom controller. Good speed control dynamic properties of the proposed concept in comparison with the reference complex solution are proven by laboratory results.

Speed calculation methods in electrical drive with non-ideal position sensor

In this paper three methods of electric motor angular speed calculation are compared. The source of the measurement signal is a 14-bit absolute encoder. The authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. The third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. The results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

Comparison of fault tolerant control algorithm using space vector modulation of PMSM drive

This paper presents developed compact algorithms of space vector pulse width modulation (SVPWM) for six-switch and four-switch three-phase inverter. Calculations of the desired voltage vector in the PMSM drive are presented, an optimal voltage vector sequence and scaling factors for SVM has been derived to synthesize the reference voltage vector in each sampling period for healthy and fault drive. It has been proved by simulation and experimental results that four-switch inverter fed PMSM is able to operate steadily and with very good static and dynamic properties under the proposed SVPWM approach.

DSP implementation of electric drive control system

This paper presents the development of programs for control electric drive. Prepared programs have been implemented on the DSP using a high-level language. The use of C++ program has enabled a logical division. The use of object-oriented programming greatly simplified the structure of the program.

PMSM laboratory stand for investigations on advanced structures of electrical drive control

This paper presents design, structure and experimental tests of a laboratory stand for the investigation on advanced control algorithms for electrical drive. The main propulsion unit is a permanent magnet synchronous motor, which is connected with a brushless DC motor operating as a dynamically adjustable load. System is controlled by a DSP with the dedicated speed and position measurement extension boards. Availability of an external DSP bus allowed to incorporate FPGA system to the control layer. The paper describes also an innovative, object-oriented approach to the implementation of the control algorithms in DSP system.