Control methods of hysteresis current vector control of permanent magnet synchronous servo drive fed by voltage source inverter are examined. Detailed description of the control methods in stationary reference frame w...Control methods of hysteresis current vector control of permanent magnet synchronous servo drive fed by voltage source inverter are examined. Detailed description of the control methods in stationary reference frame with circle, square and hexagon shape tolerance area using adaptive solutions is presented. The theoretical considerations are supported by simulation results.展开更多
The existing plastic forming equipment are mostly driven by traditional AC motors with long trans- mission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In o...The existing plastic forming equipment are mostly driven by traditional AC motors with long trans- mission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for com- plicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion with- out transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on thedynamic test benches are conducted. The results indicate that the output torque can attain to 420 N-m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive, the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accu- racy direct driving device in plastic forming equipment.展开更多
This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power outp...This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.展开更多
文摘Control methods of hysteresis current vector control of permanent magnet synchronous servo drive fed by voltage source inverter are examined. Detailed description of the control methods in stationary reference frame with circle, square and hexagon shape tolerance area using adaptive solutions is presented. The theoretical considerations are supported by simulation results.
基金Supported by National Natural Science Foundation of China(Grant No.51335009)Major National Science and Technology Project of China(Grant No.2011ZX04001-011)
文摘The existing plastic forming equipment are mostly driven by traditional AC motors with long trans- mission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for com- plicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion with- out transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on thedynamic test benches are conducted. The results indicate that the output torque can attain to 420 N-m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive, the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accu- racy direct driving device in plastic forming equipment.
文摘This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.
