直接驱动永磁伺服电动机转矩脉动的削弱和自动补偿

Autocompensation and Attenuation of Torque Ripple of Direct Drive Motor

由于直接驱动电动机（ＤＤＭ）不需要减速齿轮，因此使驱动系统简单、可靠，可用于高精度数控机床和机器人．为此，ＤＤＭ需要更准确的转矩控制．本文讨论了转矩脉动的削弱和自动补偿问题．

Since a direct drive motor (DDM)does not require a reduction gear,the drive systemcan be made simple,and therefore,it can be used in high precision robots and numeralcontrol machine tools.DDM requires more accturate torque control.Autocompensation andattenuation of torque ripple are discussed.