Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control

Wesley Roozing; Navvab Kashiri; Nikos G. Tsagarakis

doi:10.1109/IROS.2018.8593608

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 proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

1 Downloads (Pure)

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 language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	IEEE
Pages	5972-5979
Number of pages	8
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/IROS.2018.8593608
Publication status	Published - 27 Dec 2018
Externally published	Yes
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018 https://www.iros2018.org/

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Abbreviated title	IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18
Internet address	https://www.iros2018.org/

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10.1109/IROS.2018.8593608

Cite this

@inproceedings{af09d178e7d8495aaf946fcb8b5962f1,

title = "Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control",

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.",

author = "Wesley Roozing and Navvab Kashiri and Tsagarakis, {Nikos G.}",

year = "2018",

month = dec,

day = "27",

doi = "10.1109/IROS.2018.8593608",

language = "English",

pages = "5972--5979",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",

publisher = "IEEE",

address = "United States",

note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 : Towards a Robotic Society, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

url = "https://www.iros2018.org/",

}

Roozing, W, Kashiri, N & Tsagarakis, NG 2018, Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593608, IEEE, pp. 5972-5979, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593608

Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control. / Roozing, Wesley; Kashiri, Navvab; Tsagarakis, Nikos G.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE, 2018. p. 5972-5979 8593608.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control

AU - Roozing, Wesley

AU - Kashiri, Navvab

AU - Tsagarakis, Nikos G.

PY - 2018/12/27

Y1 - 2018/12/27

N2 - 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.

AB - 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.

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DO - 10.1109/IROS.2018.8593608

M3 - Conference contribution

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BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

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T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

Y2 - 1 October 2018 through 5 October 2018

ER -

Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control

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