• 제목/요약/키워드: Output torque

검색결과 629건 처리시간 0.024초

DC Link 전압 합성을 이용한 동기형 릴럭턴스 전동기 토크 제어 (Torque Control of Synchronous Reluctance Motor using DC Link voltage Synthesis)

  • 김승주;안준선;김기찬;고성철;이주
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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    • pp.19-21
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    • 2006
  • This paper presents the control method that inverter output keeps to linear to reference voltage of Synchronous Reluctance Motor using DC Link voltage Synthesis. The Inverter output voltage cannot be displayed to linear about inverter reference voltage if Real DC Link voltage is different from DC Link voltage of PWM amplitude. Also, the overmodulation that there is linearity broken if reference voltage is out of range that inverter can output voltage. Torque ripple generates the vibration and noise of a motor. This paper proposes the control method so that torque ripple decreases and the linearity of inverter output keeps using the DC Link voltage Synthesis.

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단일입력 다출력 PTO 기어박스의 내구성시험에 관한 연구 (Study of a Durability Test for Single-input Multi-output Power Take-off Gearboxes)

  • 이용범;유한주
    • 드라이브 ㆍ 컨트롤
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    • 제14권1호
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    • pp.29-34
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    • 2017
  • This study analyzed a life test method for a power take-off (PTO) gearbox. An engine transfers mechanical power (rotation and torque) to a hydraulic pump through a PTO Gearbox with one input shaft and three output shafts. PTO gear box durability under high loads over long time periods was tested using dynamometers. In order to reflect the rated operating conditions, power must be distributed to each output shaft, and experiments were conducted under various conditions to verify the characteristics of the distributed power. An accelerated life test was designed using speed and torque as acceleration factors. Also, efficiency tests were conducted under various load conditions. Also, a lubrication oil composition analysis was performed to analyze gearbox wear status.

On Output Feedback Tracking Control of Robot Manipulators with Bounded Torque Input

  • Moreno-Valenzuela, Javier;Santibanez, Victor;Campa, Ricardo
    • International Journal of Control, Automation, and Systems
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    • 제6권1호
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    • pp.76-85
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    • 2008
  • Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.

외란 관측기에 기반을 둔 힘 추정기 설계 (Design of Force Estimator Based on Disturbance Observer)

  • 엄광식;서일홍
    • 대한전기학회논문지:전력기술부문A
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    • 제48권9호
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    • pp.1140-1146
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    • 1999
  • In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

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SCARA형 로보트를 위한 손목 힘/토오크 센서의 출력 해석 (The Output Analysis of Wrist Force/ Torque Sensor for SCARA Type Robots)

  • 고명삼;하인중;이범희;고낙용
    • 대한전기학회논문지
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    • 제37권8호
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    • pp.570-578
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    • 1988
  • In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

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위상차에 의한 초음파 모터의 속도와 토오크 특성 (Rotation Speed and Torque Characteristics of Ultrasonic Motor by Phase difference)

  • 김동옥;고낙용;최한수;차인수;우수용;김영동
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1994년도 하계학술대회 논문집 A
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    • pp.328-330
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    • 1994
  • The Ultrasonic motor(USM) has many good characteristics such as high torque at low speed range, large holding torque based upon frictional force, high speed response, flexible free ferns, compactness in size, low magnetic noise and silentness in motion. Because of having low speed rotation, USM is good as an actuator of a small size direct drive (DD) manipulator. The acturators for the DD manipulators must have good controllability on the speed and torque from zero to maximum value continuously. New method was developed for speed and torque control by the phase difference control of the two-phase driving signals of the motor. Then rule adjustable compliant and dumped motion was realized on the output shaft of the motor by PD control of the output shaft angle.

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100,000 RPM급으로 회전하는 에어공구에서의 저토오크 측정에 관한연구 (Study on measuring the low torque on an air tool operating at 100,000 RPM class)

  • 김은종;조수용
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2003년도 춘계학술대회
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    • pp.2018-2023
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    • 2003
  • An experiment is conducted for measuring the performance of an air tool, which is operated at 100,000 RPM at the unloaded state with the low torque. An experimental apparatus is developed as the power absorption type dynamometer. Inlet static pressure, flow rate, RPM and force are measured simultaneously. Torque, output power and specific output power are obtained. Those experimental results are compared with the experimental results obtained on a commercial dynamometer. However, no commercial dynamometers are available for measuring the torque above 30,000RPM. In order to use the commercial dynamometer, a reduction gear is applied to the shaft of dynamometer. Torque and power obtained on the commercial dynamometer show 50% lower than those obtained on a power absorption type dynamometer, because the inertia force is added to the air tool rotor for the braking system. Moreover, the starting RPM on the commercial dynamometer is less than 40,000RPM. From the compared results, they show that the power absorption type dynamometer should be applied for measuring the performance of an air tool operating at low torque and high RPM.

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Torque Predictive Control for Permanent Magnet Synchronous Motor Drives Using Indirect Matrix Converter

  • Bak, Yeongsu;Jang, Yun;Lee, Kyo-Beum
    • Journal of Power Electronics
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    • 제19권6호
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    • pp.1536-1543
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    • 2019
  • This paper presents an improved torque predictive control (TPC) for permanent magnet synchronous motors (PMSMs) using an indirect matrix converter (IMC). The IMC has characteristics such as a high power density and sinusoidal waveforms of the input-output currents. Additionally, this configuration does not have any DC-link capacitors. Due to these advantages of the IMC, it is used in various application field such as electric vehicles and railway cars. Recently, research on various torque control methods for PMSM drives using an IMC is being actively pursued. In this paper, an improved TPC method for PMSM drives using an IMC is proposed. In the improved TPC method, the magnitudes of the voltage vectors applied to control the torque and flux of the PMSM are adjusted depending on the PMSM torque control such as the steady state and transient response. Therefore, it is able to reduce the ripples of the output current and torque in the low-speed and high-speed load ranges. Additionally, the improved TPC can improve the dynamic torque response when compared with the conventional TPC. The effectiveness of the improved TPC method is verified by experimental results.

Control Strategy of Total Output Power Ripple Cancellation for DFIG in MV Wind Power Systems under Unbalanced Grid Conditions

  • Han, Daesu;Suh, Yongsug
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2015년도 전력전자학술대회 논문집
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    • pp.355-356
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    • 2015
  • This paper proposes a control strategy of total output power ripple cancellation for both of Machine-Side Converter (MSC) and Grid-Side Converter (GSC) in a DFIG under unbalanced grid conditions. The proposed control strategy for the MSC is the zero torque ripple control algorithm with an enhanced LVRT capability. The control algorithm for the MSC exhibits reduced torque pulsation in steady-state unbalanced grid conditions. In addition, this control algorithm also minimizes a peak value of rotor current in transient unbalanced grid conditions. The total output power ripple cancellation control algorithm is adopted in the GSC. The total output power ripple cancellation is achieved by nullifying the oscillating component of the total output active and reactive power at the summing point of stator and rotor of DFIG. The proposed control strategy for the GSC reduces the output power oscillation leading to the improved quality of wind farms output.

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4축 힘/토크 센서의 구조 설계 (Design of Structure of Four-Axis Force/Torque Sensor with Parallel Step Plate Beams)

  • 이경준;김갑순
    • 제어로봇시스템학회논문지
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    • 제20권11호
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    • pp.1147-1152
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    • 2014
  • This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.