Embedded Control of a PMSM Servo Drive without Current Measurements

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• 作者：Dino Hü ; llmann ; ^{dino.huellmann@bam.de} ; Harald Kohlhoff ; Patrick Neumann
• 关键词：PMSM ; BLDC ; servo drive ; control ; optical incremental encoder ; speed estimator
• 刊名：Procedia Engineering
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：168
• 期：Complete
• 页码：1671-1675
• 全文大小：178 K
• 卷排序：168

文摘

A permanent-magnet synchronous motor (PMSM) servo drive for lightweight robotic platforms that have a high torque demand at low rotational speeds has been developed. First, a current-independent torque controller is derived and cascaded with a speed and position controller, while merely an encoder is used as a sensor device in combination with a speed estimator. Finally, the speed estimator output is compared to gyroscope measurements and the overall functioning is verified on a real system.