A Friction Feedforward Compensation Method Based on Electromagnet Torque Feedback Compensation

摘要

In this paper, a structure of friction feedforward compensation based on electromagnet torque feedback compensation is proposed to improve the speed performance of permanent magnet synchronous motor (PMSM), especially in a low speed range. First, this paper estimates the parameters associated with the friction model via an off-line identification method and compensates friction with the model. Then electromagnet torque feedback compensation is introduced to enhance the robustness of the system. The proposed control scheme is verified by computer simulation.