Name
Abstract | ||
|---|---|---|
A direct drive variable reluctance motor for robotic applications is considered. A cascade control structure is adopted, with an inner torque loop and an outer velocity loop. The inner loop consists of a static torque precompensator transforming the torque control problem into a current or flux control one. Optimization techniques that minimize power dissipation under the voltage limit imposed by the power amplifier are used to define an optimal ripple-free flux profile. Sliding mode implementation of the inner controller is considered, while the outer loop is designed using binary control techniques to achieve insensitivity to load and inertia variations. The drive is simulated for a single-link robotic arm, showing good performances in terms of residual torque ripple and velocity-tracking capability |
Year | DOI | Venue |
|---|---|---|
1991 | 10.1109/IROS.1991.174473 | Osaka |
Keywords | Field | DocType |
cascade control,digital control,electric drives,machine control,optimisation,reluctance motors,robots,torque control,variable structure systems,binary control,cascade control,direct drive variable reluctance motor,electric drives,flux control,optimal ripple-free flux profile,power amplifier,single-link robotic arm,static torque precompensator,torque control | Switched reluctance motor,Inner loop,Control theory,Torque,Reluctance motor,Torque sensor,Control theory,Computer science,Direct torque control,Control engineering,Torque ripple | Conference |
Citations | PageRank | References |
1 | 3.01 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| C. Rossi | 1 | 80 | 20.29 |
| A. Tonielli | 2 | 130 | 33.43 |
| Corrado Guarino Lo Bianco | 3 | 1 | 3.35 |
| Fabio Filicori | 4 | 42 | 16.73 |