Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control

Wesley Roozing, Navvab Kashiri, Nikos G. Tsagarakis

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)

Abstract

This work presents a method to increase the peak output speed of surface permanent magnet synchronous machine (SPMSM) motor drives with application in robotics using field weakening control. Contrary to most existing works, the strategy is stateless and operates using only a motor torque reference as input, making it suitable for robotics applications in which reference torque and speed are continuously and rapidly changing. Based on the system dynamics and constraints, we obtain four different operating modes. The strategy is extensively validated using three different experiments, which show an increase in peak velocity of up to 33%. The results demonstrate that the proposed strategy is effective in extending the dynamic performance and explosive motion capabilities of robots.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherIEEE
Pages5972-5979
Number of pages8
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 27 Dec 2018
Externally publishedYes
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Abbreviated titleIROS 2018
CountrySpain
CityMadrid
Period1/10/185/10/18
Internet address

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