• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Toward Comprehensive Modeling and Large-Angle Tracking Control of a Limited-Angle Torque Actuator With Cylindrical Halbach
【24h】

Toward Comprehensive Modeling and Large-Angle Tracking Control of a Limited-Angle Torque Actuator With Cylindrical Halbach

机译：圆柱Halbach有限角度转矩执行器的综合建模和大角度跟踪控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The single-phase limited-angle torque (LAT) motor with cylindrical Halbach magnetic array provides a smaller form factor, lighter moving mass, and higher force throughput within 60 angle range, compared with the three-phase permanent magnet synchronous motor. Due to the imperfect flux distribution within the air-gap of the Halbach array, as well as the inherent angular dependent characteristics, it is mainly used for point-to-point motion applications in prior literature. In this paper, we would like to deal with above issues, so that it can be extensively used for large-angle tracking applications. First, we derive the ideal model of this LAT actuator. Next, we propose to identify its nominal model parameters by the relay feedback with sufficiently small oscillations near the neutral position. Later, a robust output feedback control with high-gain observer is proposed to handle both model uncertainty and angular-dependent nonlinear current–torque relationship, so that the precision tracking of a defined smooth trajectory is achieved with only position sensing. The real-time experiment on a prototype validates the practical appeal of proposed methods.
机译：与三相永磁同步电动机相比，具有圆柱形Halbach磁阵列的单相限角转矩（LAT）电动机在60角度范围内具有更小的外形尺寸，更轻的运动质量和更高的力通过量。由于Halbach阵列的气隙内的通量分布不完美，以及固有的角度相关特性，它在现有文献中主要用于点对点运动应用。在本文中，我们希望解决上述问题，以便可以将其广泛用于大角度跟踪应用。首先，我们推导出该LAT执行器的理想模型。接下来，我们建议通过继电器反馈来识别其标称模型参数，该继电器反馈在中性位置附近具有足够小的振荡。后来，提出了一种具有高增益观测器的鲁棒输出反馈控制，以处理模型不确定性和与角度有关的非线性电流-转矩关系，从而仅通过位置检测即可实现对定义的平滑轨迹的精确跟踪。原型上的实时实验验证了所提出方法的实际吸引力。

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