Contact Control System Applying Torque Control and Contact Force Estimation for Life-sized Humanoid Robots’ Dynamic Multi-contact Motion Involving Impact Force

2020 ◽  
Vol 2020 (0) ◽  
pp. 2A2-G09
Author(s):  
Kazuki FUKAZAWA ◽  
Naoki HIRAOKA ◽  
Kunio KOJIMA ◽  
Shintaro NODA ◽  
Masahiro BANDO ◽  
...  
Keyword(s):  
Control System ◽  
Contact Force ◽  
Impact Force ◽  
Humanoid Robots ◽  
Torque Control ◽  
Force Estimation ◽  
Contact Control

scholarly journals Performance Improvement of Servo Control System Driven by Novel PMSM-DTC Based On Fixed Sector Division Criterion

Energies ◽  
2019 ◽  
Vol 12 (11) ◽  
pp. 2154 ◽  
Author(s):  
Dazhi Wang ◽  
Tianqing Yuan ◽  
Xingyu Wang ◽  
Xinghua Wang ◽  
Yongliang Ni
Keyword(s):  
Control System ◽  
Performance Improvement ◽  
Error Compensation ◽  
Permanent Magnet Synchronous Motor ◽  
Direct Torque Control ◽  
Torque Control ◽  
Servo Control ◽  
Flux Linkage ◽  
Servo Control System ◽  
Stator Flux

In order to improve the performance of the servo control system driven by a permanent magnet synchronous motor (PMSM) under novel direct torque control (NDTC), which, utilizing composite active vectors, fixed sector division criterion, is proposed in this paper. The precondition of the accurate compensations of torque and flux errors is that the sector where the stator flux linkage is located can be determined accurately. Consequently, the adaptive sector division criterion is adopted in NDTC. However, the computation burden is inevitably increased with the using of the adaptive part. On the other hand, the main errors can be compensated through SV-DTC (DTC-utilizing single active vector), while another active vector applied in NDTC can only supply the auxiliary error compensation. The relationships of the two active vectors’ characteristics in NDTC are analyzed in this paper based on the active factor. Furthermore, the fixed sector division criterion is proposed for NDTC (FS-NDTC), which can classify the complexity of the control system. Additionally, the switching table for the selections of the two active vectors is designed. The effectiveness of the proposed FS-NDTC is verified through the experimental results on a 100-W PMSM drive system.

Individual Drive Cross-Coupled Torque Control System for Pressure Uniformization in Roll-to-Roll Printing

2021 ◽  
Vol 45 (7) ◽  
pp. 605-613
Author(s):  
Jimin Park ◽  
Youngjin Kim ◽  
Hyeongrae Kim ◽  
Juyeon Kim ◽  
Dongho Oh
Keyword(s):  
Control System ◽  
Torque Control ◽  
Roll To Roll

Active Compensation Control of Wind Force and Wire Roughness for Current Collector Using Optical Fiber Sensor

1999 ◽  
Author(s):  
Kazuo Yoshida ◽  
Masaaki Ukita ◽  
Toshiaki Makino
Keyword(s):  
Control System ◽  
Optical Fiber ◽  
Active Control ◽  
Contact Force ◽  
Optical Fiber Sensor ◽  
Current Collector ◽  
Low Noise ◽  
Fiber Sensor ◽  
Noise Current ◽  
And Control

Abstract For railways speed up such as 350km/h, it is particularly important to reduce noise caused by current collector for environmental problem. For a solution, a diamond shaped low-noise current collector has been developed. However, it becomes difficult for the current collector to maintain the predetermined contact force between the contact strip and the trolley-wire. Therefore, it is necessary to apply the active control to keep the contact force uniform. However, there is a serious problem for the active control that it is difficult to put sensors in high voltage region. In this paper, an application of plastic optical fiber sensor is devised and it is applied to the control system. In the experiment, the usefulness of the proposed sensor and control system is demonstrated.

Study on speed sensorless system of permanent magnet synchronous motor based on improved direct torque control

2021 ◽  
pp. 014233122110629
Author(s):  
Xiaoxin Hou ◽  
Mingqian Wang ◽  
Guodong You ◽  
Jinming Pan ◽  
Xiating Xu ◽  
...  
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Direct Torque Control ◽  
Torque Ripple ◽  
Synchronous Motor ◽  
Torque Control ◽  
Switching Frequency ◽  
Speed Sensorless ◽  
Stator Resistance

The traditional direct torque control system of permanent magnet synchronous motor has many problems, such as large torque ripple and variable switching frequency. In order to improve the dynamic and static performance of the control system, a new torque control idea and speed sensorless control scheme are proposed in this paper. First, by deriving the equation of torque change rate, an improved torque controller is designed to replace the torque hysteresis controller of the traditional direct torque control. The improved direct torque control strategy can significantly reduce the torque ripple and keep the switching frequency constant. Then, based on the improved direct torque control and considering the sensitivity of the stator resistance to temperature change, a speed estimator based on the model reference adaptive method is designed. This method realizes the stator resistance on-line identification and further improves the control precision of the system. The performance of the traditional direct torque control and the improved direct torque control are compared by simulation and experiment under different operating conditions. The simulation and experimental results are presented to support the validity and effectiveness of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document