Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
Publish Year: 1394
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_IJE-28-5_009
تاریخ نمایه سازی: 15 آذر 1394
Abstract:
Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of permanent magnet synchronous motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is achallenging problem. This article presents a novel tracking control of electrically driven robots which is simple and free from manipulator model. The novelty is the developing of voltage control strategyfor the direct-drive robots driven by PMSMs. In addition, a state-space model is obtained for therobotic system including the direct-drive robot manipulator and the PMSMs. Then, the proposed approach is verified by stability analysis. A comparative study through simulations shows the superiority of the voltage control strategy to the torque control strategy
Keywords:
Direct-Drive Robot , Permanent Magnet Synchronous Motor , Torque Control Strategy , Voltage Control Strategy ,
Authors
m.m Fateh
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Iran
m Sadeghijaleh
Department of Electrical and Robotic Engineering, Shahrood University of Technology, Iran