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- W566694760 abstract "A modern industrial robot is simply a collection of arms interconnected with joints that can be set into movement with electrical motors. Usually permanent magnet synchronism motors (PMSM) connected to a gearbox form the muscle of the robot. To control the motion of the motor, several typical position/speed PI/PID control systems are used in which feedback from the position of the motor is used in a closed loop. Normally, the output of the position/speed control loop is sent to the current controller loop, which is responsible to provide correct three-phase current to the poles of the motor so that it can output the necessary torque to the gear. Instead of the conventional current loop, this paper introduces the Direct Torque Control (DTC) method, which is never used in the industrial robot in ABB Shanghai, the aim of the project is to build a valid DTC system in Simulink, providing data that could be used in the further research work. In this paper, two different methods (DH model and inverse dynamic) are presented to build the dynamic model for a three link manipulator first. The real physical data are confidential, so α, β will be used in stead of real data while derivation and the final matrix will be presented in the same way. Then different methods including linear and nonlinear ones are studied and compared, the H infinity method which is much more advanced according to the research done by other scientist, but the high requirements on hardware devices are too high to be realized, then the typical PI method is chosen and implemented. And then a basic DTC method and an improved DTC method will be introduced and implemented in Simulink. The basic DTC method is based on the fact that the increase of torque is proportional to the increase of the angle δ. In that case to obtain the maximum change in actual torque the amplitude of the stator flux linkage should be kept constant with its rotating speed be controlled as fast as possible. However, which the switching table used, the robustness of the basic system is poor. An improved method, which is using Space Vector Modulation (SVM) to compensate error between the reference flux linkage values and the estimated ones, is proved to be more efficiency." @default.
- W566694760 created "2016-06-24" @default.
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- W566694760 date "2011-01-01" @default.
- W566694760 modified "2023-09-24" @default.
- W566694760 title "Robust Algorithms for Control of Permanent Magnet Servo Drives." @default.
- W566694760 hasPublicationYear "2011" @default.
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