• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>ASME Dynamic Systems and Control Conference >EXPLOITING INATE MOTOR DYNAMICS FOR HIGH STIFFNESS HAPTIC DISPLAY ON BRUSHLESS DC MOTORS
【24h】

EXPLOITING INATE MOTOR DYNAMICS FOR HIGH STIFFNESS HAPTIC DISPLAY ON BRUSHLESS DC MOTORS

机译：利用无刷直流电机的高刚度触觉显示的inate电机动力学

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The maximum stiffness that can be rendered by impedance-controlled haptic devices has traditionally been limited by quantization, discretization, and delay in the digital loop. Recent research has shown that performance can be improved by utilizing the natural inductive stiffness inherent in brushed DC motors. This study extends the concept of exploiting a motor's dynamics to the three phase brushless DC (BLDC) motor. It is analytically shown that the inductances of a BLDC motor's windings map to a high physical stiffness. This stiffness is made available at frequencies important to haptic interaction by cancelling the resistance in each winding with analog feedback, effectively slowing the motor's electrical dynamics. Experimental verification is obtained by implementing the proposed spring drive in analog circuitry in combination with a digital position feedback loop. The final results support the analytic solution and compare the spring drive favorably with traditional current and voltage drives for haptic applications.
机译：可以通过阻抗控制的触觉设备呈现的最大刚度传统上是通过数字循环中的量化，离散化和延迟的限制。最近的研究表明，通过利用刷式直流电动机中固有的固有的自然感应刚度，可以提高性能。本研究扩展了利用电机动态到三相无刷直流（BLDC）电机的概念。它在分析上示出了BLDC电机绕组的电感地图地图到高的物理刚度。通过在模拟反馈中取消每个绕组中的电阻，在触觉相互作用的频率下提供这种刚度，有效减慢电机的电动动力学。通过与数字位置反馈回路组合的模拟电路在模拟电路中实现所提出的弹簧驱动来获得实验验证。最终结果支持分析解决方案，并将弹簧驱动器比较，具有用于触觉应用的传统电流和电压驱动器。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号