Article

Article title COMPENSATION OF THE SERVOMECHANISM USING MINOR FEEDBACK LOOP WITH CURRENT TRANSFORMER
Authors Yu.R. Kuzin, A.V. Kalinin, D.S. Grimak
Section SECTION IV. COMPUTER ENGINEERING AND ELECTRONICS
Month, Year 06, 2016 @en
Index UDC 681.513.3
DOI
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.

Download PDF

Keywords Servomechanism; current transformer; minor feedback loop; feedback control system
References 1. Bleyz E.S., Zimin A.V., Ivanov E.S. i dr. Sledyashchie privody [The servo drives]. In 3 vol. 2nd ed., Ed. by B.K. Chemodanova. Vol. I: Teoriya i proektirovanie sledyashchikh privodov [Theory and design of servo drives]. Moscow: Izd-vo MGTU im. N.E. Baumana, 1999, 904 p.
2. Isaac M. Horowitz. Synthesis of Feedback Systems. New York: Academic press INC., 1963.
3. Chestnut H. and Meyer R.W. Servomechanisms and Regulating System Design. Vol. I. New York: Wiley, 1955.
4. Gostev V.I., Gusovskiy S.V. Korrektiruyushchie ustroystva avtomatiki na nesushchey peremennogo toka: spravochnik [Corrective devices of automation at carrier AC: a Hand-book]. Kiev: Tekhnika, 1981, 208 p.
5. Nelineynye korrektiruyushchie ustroystva v sistemakh avtomaticheskogo upravleniya [Nonlinear corrective devices in the systems of automatic control], Under ed. Yu.I. Topcheeva. Moscow: Mashinostroenie, 1971, 466 p. (Nelineynye sistemy avtomaticheskogo upravleniya [the Nonlinear system automatic control]. 2 vol.).
6. Artym A.D. Elektricheskie korrektiruyushchie tsepi i usiliteli. Teoriya i proektirovanie: nauchnoe izdanie [Electric correction circuit and amplifiers. Theory and design: scientific publishing]. Moscow- Leningrad: Energiya, 1965, 418 p.
7. Levitskiy M.Ya. Korrektiruyushchie ustroystva: nauchnoe izdanie [Corrective device: a scientific publication]. Kiev: Tekhnika, 1969, 190 p.
8. Pal'tov I.P. Kachestvo protsessov i sintez korrektiruyushchikh ustroystv v nelineynykh avtomaticheskikh sistemakh: nauchnoe izdanie [The quality of processes and synthesis of correcting devices in nonlinear automatic systems: scientific publication]. Moscow: Nauka, 1975, 367 p. (Teoreticheskie osnovy tekhnicheskoy kibernetiki [Theoretical foundations of technical Cybernetics]).
9. Lur'e B.Ya., Enrayt P.Dzh. Klassicheskoe metody avtomaticheskogo upravleniya: uchebnoe posobie [The classical methods of automatic control: textbook], Under ed. A.A. Lanne. St. Pe-tersburg: BKhV-Peterburg, 2004, 624 p.
10. Ustroystva i elementy sistem avtomaticheskogo regulirovaniya i upravleniya [Devices and elements of automatic control systems and control]: in 3 books, Under ed. V.V. Solodovnikova. Moscow: Mashinostroenie, 1973.
11. Goodwin G.C., Graebe S.F., and Salgado M.E. Control System Design. Prentice Hall, 2001.
12. Korrektiruyushchie tsepi v avtomatike: sbornik perevodov statey [Correction circuit in automation: a collection of translations of articles], Under ed. M.Z. Litvina-Sedogo. Moscow: Inostr. lit., 1954, 268 p.
13. Osnovy avtomaticheskogo regulirovaniya: nauchnoe izdanie [Fundamentals of automatic con-trol: the scientific edition], Under red. V.V. Solodovnikova. Vol. 2. Elementy sistem avtomaticheskogo regulirovaniya [Elements of automatic control systems]. Part 2. Korrektiruyushchie elementy i elementy vychislitel'nykh mashin [The corrective elements and the elements of computing machines]. Moscow: Mashgiz, 1959, 451 p.
14. Antsaklis P.J., and A.N. Michel. Linear Systems. McGraw-Hill, 1997.
15. Gao Z., Huang Y. and Han J. An Alternative Paradigm for Control System Design. Presented at the 40th IEEE.
16. Galiev A.L., Galieva R.G. Elementy i ustroystva avtomatizirovannykh system [Elements and devices of automated systems]. Ufa: Izd-vo: Sterlitamakskaya akademiya, 2008, 222 p.
17. Ogata K. Modern Control Engineering. 3rd ed., Prentice Hall, 1997.
18. Dorf R., Bishop R. Sovremennye sistemy upravleniya [Modern control system]. Moscow: Izd-vo Laboratoriya bazovykh znaniy, 2002, 832 p.
19. Solodovnikov V.V. Sintez korrektiruyushchikh ustroystv sledyashchikh sistem pri pomoshchi optimal'nykh i tipovykh logarifmicheskikh chastotnykh kharakteristik [Synthesis of corrective devices, tracking systems by using the optimal model and the logarithmic frequency characteristics of], Avtomatika i telemekhanika [Automation and Remote Control], 1953, Vol. 14, Issue 5, pp. 531-555.
20. Franklin G.F., Powell J.D., and Emami-Naeimi A. Feedback Control of Dynamic Systems. 3rd ed., Addison-Wesley, 1994.
21. Kuo B.C. Automatic Control Systems. 7th ed., Prentice Hall, 1995.
22. Astapov Yu.M. Chastotnye metody analiza avtomaticheskikh sistem. Mashinostroenie. Entsiklopediya v soroka tomakh [Frequency methods of analysis of automatic systems. Engineering. The encyclopedia in forty volumes]. Vol. 14. Avtomaticheskoe upravlenie. Teoriya [Automatic control. Theory]. Edited and compiled by E.A. Fedosov. Moscow: Mashinostroenie, 2000, pp. 38-43.
23. Feedback Control of Dynamic Systems, Fifth Edition, by Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini. ISBN 0-13-149930-0. 2006 Pearson Education, Inc., Upper Saddle River, NJ.
24. Rohrs C.E., Melsa J.L., and Schultz D.G. Linear Control Systems. McGraw-Hill, 1993.

Comments are closed.