| Autor: |
Boldea, I., Tutelea, L. N., Muntean, N., Popa, A., Blaabjerg, F. |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Boldea, I, Tutelea, L N, Muntean, N, Popa, A & Blaabjerg, F 2020, ' Robotics electric actuators : Recent progress in high torque density designs and their advanced motion control-A review ', Proceedings of the Romanian Academy Series A-Mathematics Physics Technical Sciences Information Science, vol. 20, no. 4, pp. 337-355 . |
| Popis: |
This tutorial review paper intends to introduce performance indexes for robotics electric brushless actuator drives and then synthesize recent progress in their higher torque density designs and advanced motion (position, speed torque) robust control, with representative case study results. Higher torque density designs refer to a few competitive PMSM topologies, the active materials, characterization and FEMM embedded optimal design methodologies for variable speed operation: low torque ripple is dedicated special attention with sample competitive results. Then, in respect to advanced motion control, field oriented control (FOC), direct torque and flux control (DTFC), feedback linearized control (FLC) and model predictive robust control (MPRC) with encoderless operation are all treated in detail. For control robustness “super-twisting sliding mode” (ST-SM) usage regulators is treated with case studies. For fault tolerance the 2x3 phase twin inverter system is emphasized. Specifying that the micro-robotics electric actuators - as microelectric - mechanical systems - have not been treated here as they constitute today a distinct field with strong peculiarities, we hope that the tutorial review here will be of assistance especially to the new comer to the field of humanoid and industrial robotics electric actuator drives. This tutorial review paper intends to introduce performance indexes for robotics electric brushless actuator drives and then synthesize recent progress in their higher torque density designs and advanced motion (position, speed torque) robust control, with representative case study results. Higher torque density designs refer to a few competitive PMSM topologies, the active materials, characterization and FEMM embedded optimal design methodologies for variable speed operation: low torque ripple is dedicated special attention with sample competitive results. Then, in respect to advanced motion control, field oriented control (FOC), direct torque and flux control (DTFC), feedback linearized control (FLC) and model predictive robust control (MPRC) with encoderless operation are all treated in detail. For control robustness “super-twisting sliding mode” (ST-SM) usage regulators is treated with case studies. For fault tolerance the 2x3 phase twin inverter system is emphasized. Specifying that the micro-robotics electric actuators - as microelectric - mechanical systems - have not been treated here as they constitute today a distinct field with strong peculiarities, we hope that the tutorial review here will be of assistance especially to the new comer to the field of humanoid and industrial robotics electric actuator drives. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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