한국전자통신학회논문지 (The Journal of the Korea institute of electronic communication sciences)

한국전자통신학회 (Korea Institute of Electronic Communication Science)
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터렛 서보 시스템에서 멀티-턴 검출이 가능한 센서리스 위치제어기 구현

Implementation of a Senseless Position Controller Capable of Multi-turn Detection in a Turret Servo System

  • 조내수 (계명문화대학교 전자정보통신과)
  • Cho, Nae-Soo (Dept. of Electronics & Data Communication, Keimyung College University)
  • 투고 : 2021.01.07
  • 심사 : 2021.02.17
  • 발행 : 2021.02.28
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초록

본 연구는 터렛 서보 시스템에서 사용되는 고가의 절대형 엔코더를 대체하기 위해서 멀티-턴 가능한 센서리스 위치제어기를 구현하였다. 센서리스 제어를 위해서는 모터의 위치 정보가 필수적이다. 따라서, 터렛 서보시스템에서 사용되는 영구자석형 동기 전동기의 수학적 모델로부터 자속 추정기를 구성하였다. 자속 추정기로부터 회전자 자속을 계산하여 회전자의 속도와 위치 정보를 얻었다. 제로-크로싱 기법을 사용하여, 추정한 회전자 자속이 1회전 할 때마다 하나의 펄스를 생성하여 멀티-턴 횟수를 측정하였다. 모의실험과 실험을 통해 제안한 방법의 유용함을 확인하였다.

This study is implemented as a sensor-less position controller capable of multi-turn detection to replace the expensive absolute encoder used in the turret servo system. For sensor-less control, the position information of the rotor is essential. For this, a magnetic flux estimator was implemented from the mathematical model of IPMSM used in the turret servo system. The position of the rotor and the angular velocity of the rotor were obtained using the rotor magnetic flux calculated from the magnetic flux estimator. Using the zero-crossing technique, one pulse was generated for each rotation of the estimated rotor magnetic flux to measure the number of multi-turns. Simulation and experiment results confirmed the usefulness of the proposed method.

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참고문헌

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