Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors
With the increasing demand for legged robots, the importance of the joint drive is increasing. The dynamic performance of the inner-most torque/current control loop conditions the capabilities of the whole joint system. In this paper, a direct torque control based on a prediction model is proposed....
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/13/7/1055 |
| _version_ | 1797433326066204672 |
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| author | Zheng Sun Yikun Xu Zhipeng Ma Jun Xu Tao Zhang Muxun Xu Xuesong Mei |
| author_facet | Zheng Sun Yikun Xu Zhipeng Ma Jun Xu Tao Zhang Muxun Xu Xuesong Mei |
| author_sort | Zheng Sun |
| collection | DOAJ |
| description | With the increasing demand for legged robots, the importance of the joint drive is increasing. The dynamic performance of the inner-most torque/current control loop conditions the capabilities of the whole joint system. In this paper, a direct torque control based on a prediction model is proposed. The motor torque is estimated by considering calculation and measurement delay; error estimation and torque tracking error are observed and compensated. The control algorithm was implemented on a Field Programmable Gate Array (FPGA) board to apply the capabilities of concurrency calculation of the FPGA. The effectiveness of the proposed control algorithm was experimentally verified. Compared with the commonly used Field Oriented Control (FOC) current controller, the presented controller can not only improve the dynamic performance of the motor but also reduce the average switching times of the inverter. |
| first_indexed | 2024-03-09T10:15:27Z |
| format | Article |
| id | doaj.art-6f78c8935f234d35a0f95b8d2bc6fba7 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T10:15:27Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-6f78c8935f234d35a0f95b8d2bc6fba72023-12-01T22:27:28ZengMDPI AGMicromachines2072-666X2022-06-01137105510.3390/mi13071055Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo MotorsZheng Sun0Yikun Xu1Zhipeng Ma2Jun Xu3Tao Zhang4Muxun Xu5Xuesong Mei6State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Electrical Engineering, Dalian University of Technology, Dalian 116024, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaWith the increasing demand for legged robots, the importance of the joint drive is increasing. The dynamic performance of the inner-most torque/current control loop conditions the capabilities of the whole joint system. In this paper, a direct torque control based on a prediction model is proposed. The motor torque is estimated by considering calculation and measurement delay; error estimation and torque tracking error are observed and compensated. The control algorithm was implemented on a Field Programmable Gate Array (FPGA) board to apply the capabilities of concurrency calculation of the FPGA. The effectiveness of the proposed control algorithm was experimentally verified. Compared with the commonly used Field Oriented Control (FOC) current controller, the presented controller can not only improve the dynamic performance of the motor but also reduce the average switching times of the inverter.https://www.mdpi.com/2072-666X/13/7/1055PMSMFPGAtorque predictive controlmotor drive |
| spellingShingle | Zheng Sun Yikun Xu Zhipeng Ma Jun Xu Tao Zhang Muxun Xu Xuesong Mei Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors Micromachines PMSM FPGA torque predictive control motor drive |
| title | Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors |
| title_full | Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors |
| title_fullStr | Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors |
| title_full_unstemmed | Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors |
| title_short | Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors |
| title_sort | field programmable gate array based torque predictive control for permanent magnet servo motors |
| topic | PMSM FPGA torque predictive control motor drive |
| url | https://www.mdpi.com/2072-666X/13/7/1055 |
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