Authors Yu.R. Kuzin, A.V. Kalinin, D.S. Grimak
Month, Year 06, 2016 @en
Index UDC 681.513.3
Abstract The servo system synthesis approach is proposed to use the current transformer in the minor feedback loop. The transformer is used as highpass filter of motor rotor current. Its cutoff frequency is out of the servo system bandwidth, so transformer behaves like differentiator. This way is used to avoid transformer low frequency challenge. So the small transformer can operate at low frequencies. This approach has advantages over others. As opposed to current shunt a transformer provides electrical isolation of control and power nets. As opposed to Hall sensor a transformer has a high ionization resistance, so it can be used in the space. Moreover, transformer is a simple winding product: it can be made as a part of motor windings, so special servo drive motor can be developed. Output signal of the transformer is rotor current derivative mixed with pulse modulation noise. Signal gets the adder through compensator nets. The synthesis of compensator is performed in frequency domain by means of Bode diagram. Compensator is 2-poles lowpass filter to achieve system required quality. Physically the lowpass filter is two RC nets connected serially. Due to the noise frequency is well above the frequency of signal, that RC-filter is sufficient to get current derivative to be clear enough for compensation. Minor feedback loop as a whole is bandpass filter, which has passthrough range in the servo system bandwidth. The theory has been verified by means of experiments. Mathematical model has been proved experimentally. Technique to calculate the parameters of current transformer in minor feedback path is discussed.

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Keywords Servomechanism; current transformer; minor feedback loop; feedback control system
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