A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor

Title: en_US A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor
Creator: en_US Paul, Benjamin J.
Date: 2004-10-20T20:11:50Z
Date Available: 2004-10-20T20:11:50Z
Date Issued: en_US 1987-08-01
Identifier: en_US AITR-1081
uri: http://hdl.handle.net/1721.1/6974
Abstract: en_US Many approaches to force control have assumed the ability to command torques accurately. Concurrently, much research has been devoted to developing accurate torque actuation schemes. Often, torque sensors have been utilized to close a feedback loop around output torque. In this paper, the torque control of a brushless motor is investigated through: the design, construction, and utilization of a joint torque sensor for feedback control; and the development and implementation of techniques for phase current based feedforeward torque control. It is concluded that simply closing a torque loop is no longer necessarily the best alternative since reasonably accurate current based torque control is achievable.
Extent: 4467169 bytes; 3473417 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1081