A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 01, 1987
- Accession Number
- ADA209399
Entities
People
- Benjamin J. Paul
Organizations
- Massachusetts Institute of Technology