| High Performance Servo—System of a Motor in Driect Drive Robotics |
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| 引用本文： | Feng Yong Wang Ya. High Performance Servo—System of a Motor in Driect Drive Robotics[J]. 哈尔滨工业大学学报, 1990, 0(3): 99-104 |
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| 作者姓名： | Feng Yong Wang Ya |
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| 摘 要： | This paper decribes the control of a high performance variable reluctance motor system for direct drive robotics and industrial automation. The control system of a motor comists of a drive unit and a digital controller, possessing two functions of tbe analog dosed-loop control of motor velocity and the digit dosed-loop control of motor position. Then it discusses the closed-loop control of current in the three phases of the motor and the control of the lead angle of the motor. Finally, it suggests a design of the control circuits of motor current, velocity and position. The closed loop control of the motor position is achieved by a digit cotroller which consists of a microprocessor and other electronic components. It can control two variable reluctance motors simultaneusly. In order to be used for directly driving robots, the digit cotroller is equipped with a universal interface.
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| 关 键 词： | 直接驱动机器人 转矩控制 速度控制 位置控制 变磁阻电动机 伺服系统 |
High Performance Servo-System of a Motor in Driect Drive Robotics |
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| Feng Yong Wang Yan Hu Hengzhang. High Performance Servo-System of a Motor in Driect Drive Robotics[J]. Journal of Harbin Institute of Technology, 1990, 0(3): 99-104 |
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| Authors: | Feng Yong Wang Yan Hu Hengzhang |
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| Affiliation: | Department of Electrical Engineering |
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| Abstract: | This paper decribes the control of a high performance variable reluctance motor system for direct drive robotics and industrial automation. The control system of a motor comists of a drive unit and a digital controller, possessing two functions of tbe analog dosed-loop control of motor velocity and the digit dosed-loop control of motor position. Then it discusses the closed-loop control of current in the three phases of the motor and the control of the lead angle of the motor. Finally, it suggests a design of the control circuits of motor current, velocity and position. The closed loop control of the motor position is achieved by a digit cotroller which consists of a microprocessor and other electronic components. It can control two variable reluctance motors simultaneusly. In order to be used for directly driving robots, the digit cotroller is equipped with a universal interface. |
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| Keywords: | Direct drive variable reluctance motor torque control speed control position control |
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