| Title |
Position Control Scheme of Rail Traction System Based on the BLAC Motor With Disturbance Observer |
| DOI |
10.6113/TKPE.2021.26.2.127 |
| Keywords |
Rail traction system; BLAC (Brushless AC) motor; Hall sensor position; Disturbance observer |
| Abstract |
This study presents an overhang-type rail traction system using dual brushless AC (BLAC) motors with hall sensors. For an accurate position and moving length control of the designed rail traction system, instantaneous position controller using speed reference model and modified disturbance observer for BLAC motor with hall sensor are proposed. The presented speed reference model is designed to satisfy the required performance of 200 mm/s with proper acceleration and deceleration slopes to reduce mechanical vibration. Through the instantaneous speed reference model, instantaneous position and speed errors can be compensated together. Furthermore, the modified disturbance observer for BLAC motors with low-resolution hall sensors can improve the torque and speed control performance. The proposed disturbance observer is based on an actual motor speed. However, the feedback speed information of the hall sensor is not enough for use in the low-speed region. The practical adopted disturbance observer uses an activation speed band to the actual torque controller of the designed rail traction system. The proposed position control scheme is verified by the MATLAB?Simulink model and a practical manufactured traction system. In the computer simulation and experiments, the proposed position control scheme shows advanced control performance. |