Apparatus and method used with AC motors for controlling motor operation
First Claim
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1. A method to be used with a model reference adaptive motor controller where the motor controller receives a command velocity signal and produces the control torque signal that drives a motor at a motor velocity, said method estimates inertia and tunes the controller, the method comprising the steps of:
- (a) deriving a motor velocity signal that is indicative of motor velocity;
(b) determining the difference between the motor velocity signal and the command velocity signal to produce an error signal;
(c) determining the second derivative of the command velocity signal to produce a jerk signal;
(d) mathematically combining the jerk signal and the error signal to produce a derivative signal;
(e) integrating the derivative signal to produce an inertia estimate; and
(f) using the inertia estimate to alter the control torque signal.
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Abstract
A method and apparatus for motor control tuning wherein an extremely accurate estimate of inertia is determined by using the second derivative of a desired motor velocity and the torque supplied to a motor is altered as a function of inertia.
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Citations
22 Claims
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1. A method to be used with a model reference adaptive motor controller where the motor controller receives a command velocity signal and produces the control torque signal that drives a motor at a motor velocity, said method estimates inertia and tunes the controller, the method comprising the steps of:
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(a) deriving a motor velocity signal that is indicative of motor velocity; (b) determining the difference between the motor velocity signal and the command velocity signal to produce an error signal; (c) determining the second derivative of the command velocity signal to produce a jerk signal; (d) mathematically combining the jerk signal and the error signal to produce a derivative signal; (e) integrating the derivative signal to produce an inertia estimate; and (f) using the inertia estimate to alter the control torque signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method to be used with a model reference adaptive motor controller for regulating a control torque signal to a motor, the motor controller receives a command velocity signal and produces the control torque signal that drives the motor at a motor velocity, the controller includes a model that produces a model velocity signal indicative of an ideal motor velocity, the controller also includes a feedback loop, the method comprising the steps of:
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(a) determining a motor velocity signal indicative of the motor velocity; (b) determining the first derivative of the command velocity signal to produce an acceleration signal; (c) determining the second derivative of the command velocity signal to produce a jerk signal; (d) determining the difference between the motor velocity signal and the model velocity signal to produce an error signal; (e) mathematically combining the jerk signal and the error signal to produce a derivative signal; (f) integrating the derivative signal to produce an inertia estimate; (g) mathematically merging the acceleration signal and the inertia estimate to produce a feedforward torque signal; and (h) adding the feedforward signal to a feedback signal to produce the control torque signal. - View Dependent Claims (12, 13, 14, 15)
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16. A method to be used with a model reference adaptive motor controller for regulating a control torque signal to a motor, the motor controller receives a command velocity signal and produces the control torque signal that drives the motor at a motor velocity, the controller includes a feedback loop, the method comprising the steps of:
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(a) deriving a motor signal that is indicative of motor velocity; (b) determining the difference between the motor signal and the command velocity signal to produce an error signal; (c) determining the first derivative of the command velocity signal to produce an acceleration signal; (d) determining the second derivative of the command velocity signal to produce a jerk signal; (e) mathematically combining the jerk signal and the error signal to produce a derivative signal; (f) integrating the derivative signal to produce an inertia estimate; (g) mathematically merging the acceleration signal and the inertia estimate to produce a feedforward torque signal; and (h) adding the feedforward signal to a feedback signal to produce the control torque signal.
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17. An apparatus to be used with a model reference adaptive motor controller for regulating a control torque signal to a motor, the motor controller receives a command velocity signal and produces the control torque signal that drives the motor at a motor velocity, the controller includes a model that produces a model velocity signal indicative of an ideal motor velocity, the apparatus comprising:
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(a) a sensor to determine an actual motor velocity signal; (b) a difference calculator that produces an error signal by determining the deviation between a motor velocity signal and a model velocity signal; (c) a derivation module that receives the command velocity signal and determines the second derivative of the command velocity signal thus producing a jerk signal; (d) a multiplier to multiply the jerk signal, the error signal, and a gain to produce a derivative signal; (e) an integrator that receives and integrates the derivative signal thus producing an inertia estimate; and (f) a compensator that uses the inertia estimate to derive the motor torque signal. - View Dependent Claims (18, 19, 20, 21, 22)
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Specification