Design and Control of a Closed-Loop Brushless Torque Actuator
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 s...
| Main Author: | |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/7034 |
| _version_ | 1826216767712657408 |
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| author | Levin, Michael Dean |
| author_facet | Levin, Michael Dean |
| author_sort | Levin, Michael Dean |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:53:07Z |
| id | mit-1721.1/7034 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:53:07Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/70342019-04-10T11:52:21Z Design and Control of a Closed-Loop Brushless Torque Actuator Levin, Michael Dean 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. 2004-10-20T20:23:03Z 2004-10-20T20:23:03Z 1990-05-01 AITR-1244 http://hdl.handle.net/1721.1/7034 en_US AITR-1244 4976921 bytes 3883739 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Levin, Michael Dean Design and Control of a Closed-Loop Brushless Torque Actuator |
| title | Design and Control of a Closed-Loop Brushless Torque Actuator |
| title_full | Design and Control of a Closed-Loop Brushless Torque Actuator |
| title_fullStr | Design and Control of a Closed-Loop Brushless Torque Actuator |
| title_full_unstemmed | Design and Control of a Closed-Loop Brushless Torque Actuator |
| title_short | Design and Control of a Closed-Loop Brushless Torque Actuator |
| title_sort | design and control of a closed loop brushless torque actuator |
| url | http://hdl.handle.net/1721.1/7034 |
| work_keys_str_mv | AT levinmichaeldean designandcontrolofaclosedloopbrushlesstorqueactuator |