Influence of Frequency Decision Taking and Torque Hysteresis on Accuracy of Trajectory in Industrial Manipulator with Direct Torque Control of Induction Motor Drives

被引：2

作者：

Beniak, Ryszard ^{[1
]}

机构：

[1] Opole Univ Technol, Fac Elect Engn Automat Control & Informat, Opole, Poland

来源：

COMPUTER FIELD MODELS OF ELECTROMAGNETIC DEVICES | 2010年 / 34卷

关键词：

Drives; induction motors; industrial manipulator; control;

D O I：

10.3233/978-1-60750-604-1-459

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The paper analyses an application of 3-phase small induction motors as drives for industrial manipulator joints and undertakes the problems of their control. When applying direct torque control method for driving motors and inverse dynamics method for the control of the whole system, presented solution becomes viable. The presented solution is not only realistic but also yields high quality of trajectory tracking as a result of introducing the robust control of the whole system. The problem is widely illustrated by the results of the simulation of manipulator operation with this kind of drives including several control system options. Particular focus is on the effect of torque hysteresis interval assumed in control algorithm on the frequency of control for which the conformance between the control and the obtained trajectories is satisfactory.

引用

页码：459 / 469

页数：11

共 9 条

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