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International Journal of Engineering، جلد ۲۸، شماره ۵، صفحات ۷۰۹-۷۱۶
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| عنوان فارسی |
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| چکیده فارسی مقاله |
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| کلیدواژه‌های فارسی مقاله |
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| عنوان انگلیسی |
Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors |
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| چکیده انگلیسی مقاله |
Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots which is free from manipulator model. The proposed control law is simple but robust against uncertainties associated with manipulator dynamics. The novelty is the developing of voltage control strategy for the direct-drive robots driven by PMSMs. In addition, a state-space model is obtained for the robotic system including the direct-drive robot manipulator and the PMSMs. Then, the proposed approach is verified by stability analysis. A comparative study through simulations shows the superiority of the voltage control strategy to the torque control strategy. |
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| کلیدواژه‌های انگلیسی مقاله |
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| نویسندگان مقاله |
Mahdi Sadeghijaleh |
Electrical and Robotic Engineering, Shahrood University of Technology
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| نشانی اینترنتی |
http://www.ije.ir/article_72509_8db9ee3a3c5eec31a4ffea6d45bd585a.pdf |
| فایل مقاله |
اشکال در دسترسی به فایل - ./files/site1/rds_journals/409/article-409-2062522.pdf |
| کد مقاله (doi) |
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| زبان مقاله منتشر شده |
en |
| موضوعات مقاله منتشر شده |
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| نوع مقاله منتشر شده |
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