Accession Number:

ADA209399

Title:

A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor

Descriptive Note:

Master's thesis

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

1987-08-01

Pagination or Media Count:

96.0

Abstract:

Many approaches to force control have assumed the ability to command torques accurately. Concurrently, much research has been devoted to developing accurate torque actuation schemes. Often, torque sensors have been utilized to close a feedback loop around output torque. In this paper, the torque control of a brushless motor is investigated through the design, construction, and utilization of a joint torque sensor for feedback control and the development and implementation of techniques for phase current based feedforeward torque control. It is concluded that simply closing a torque loop is no longer necessarily the best alternative since reasonably accurate current based torque control is achievable.

Subject Categories:

  • Electric Power Production and Distribution
  • Test Facilities, Equipment and Methods
  • Mechanics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE