TY - GEN
T1 - Torque control of sinusoidal PMAC motors for direct-drive robots
AU - Sun, Dong
AU - Mills, James K.
PY - 2001
Y1 - 2001
N2 - A new control approach for direct-drive robots with sinusoidal permanent magnet AC (PMAC) motors is developed. The conventional vector control for PMAC motors has been simplified by specifying the motor sta-tor phase so that the rotating d-axis current is zero. This makes the motor work in maximum torque-per-amp operation. The proposed torque control, in the form of torque feedforward plus Pi-type torque feedback, utilizes the feedback of nominal torque signal only, a signal that can be readily calculated, on-line. No torque sensor is required. Through proper design of the desired nominal torque with adaptive control technology, the proposed torque control can overcome the disturbances due to torque estimation error and model uncertainties. Experiments conducted on a commercial motion control system demonstrates the validity of the proposed approach in high-speed motions.
AB - A new control approach for direct-drive robots with sinusoidal permanent magnet AC (PMAC) motors is developed. The conventional vector control for PMAC motors has been simplified by specifying the motor sta-tor phase so that the rotating d-axis current is zero. This makes the motor work in maximum torque-per-amp operation. The proposed torque control, in the form of torque feedforward plus Pi-type torque feedback, utilizes the feedback of nominal torque signal only, a signal that can be readily calculated, on-line. No torque sensor is required. Through proper design of the desired nominal torque with adaptive control technology, the proposed torque control can overcome the disturbances due to torque estimation error and model uncertainties. Experiments conducted on a commercial motion control system demonstrates the validity of the proposed approach in high-speed motions.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84928896129&origin=recordpage
U2 - 10.1109/CIRA.2001.1013172
DO - 10.1109/CIRA.2001.1013172
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 780372034
VL - 2001-January
SP - 53
EP - 58
BT - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
PB - IEEE
T2 - IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Y2 - 29 July 2001 through 1 August 2001
ER -