A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor
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 torq...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6974 |
| _version_ | 1826212544616857600 |
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| author | Paul, Benjamin J. |
| author_facet | Paul, Benjamin J. |
| author_sort | Paul, Benjamin J. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T15:25:23Z |
| id | mit-1721.1/6974 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:25:23Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/69742019-04-12T08:33:43Z A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor Paul, Benjamin J. 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. 2004-10-20T20:11:50Z 2004-10-20T20:11:50Z 1987-08-01 AITR-1081 http://hdl.handle.net/1721.1/6974 en_US AITR-1081 4467169 bytes 3473417 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Paul, Benjamin J. A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title | A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title_full | A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title_fullStr | A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title_full_unstemmed | A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title_short | A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor |
| title_sort | systems approach to the torque control of a permanent magnet brushless motor |
| url | http://hdl.handle.net/1721.1/6974 |
| work_keys_str_mv | AT paulbenjaminj asystemsapproachtothetorquecontrolofapermanentmagnetbrushlessmotor AT paulbenjaminj systemsapproachtothetorquecontrolofapermanentmagnetbrushlessmotor |