Design and Control of a Closed-Loop Brushless Torque Actuator

Title: en_US Design and Control of a Closed-Loop Brushless Torque Actuator
Creator: en_US Levin, Michael Dean
Date: 2004-10-20T20:23:03Z
Date Available: 2004-10-20T20:23:03Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1244
uri: http://hdl.handle.net/1721.1/7034
Abstract: en_US This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to determine dynamic characteristics. A reaction torque sensor fixed to the motor stator was implemented to decouple the transmission dynamics from the sensor. This resulted in a compact actuator with higher bandwidth and precision than could be obtained with an inline or joint sensor. Testing demonstrated that closed-loop torque accuracy was within 0.1%, and the mechanical bandwidth approached 300 Hz.
Extent: 4976921 bytes; 3883739 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1244