Servomotor modelling and control for safe robots

	Servomotor modelling and control for safe robots
	Song JL(宋吉来); Xu F(徐方); Jia K(贾凯); Zou FS(邹风山)
	2015
会议日期	December 6-9, 2015
会议地点	Zhuhai, China
页码	1221-1226
英文摘要	This paper presents a method of modelling and control of servomotor for safe robots. Safety has indeed come to represent one of the major themes in robotics research for those applications that bring robots in contact with humans. Beyond this is the classical research topic of impedance control which has recently found new interest after the progress in the improved control and sensing principles. There exist a few different strategies for robot impedance control, where different amounts of sensor information are used. Among them, a kind of sensorless force control, torque observer method based on motor model, current and position information has many advantages and is widely researched. This paper discusses the permanent magnet synchronous motor (PMSM) modelling and control for the sensorless force control of safe robots. DSP controller for performing the vector and current control functions for a PMSM is implemented, and field oriented control is used to convert the PMSM into equivalent separately excited dc machines which have highly desirable control characteristics. Also, the nonlinear equations of the PMSM, PID controller equations and a real time model of the inverter switches are used in the simulation. At last, key theoretical results are verified by loading experiments.
产权排序	1
会议录	Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4673-9674-5
WOS记录号	WOS:000380476200205
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18604]
专题	沈阳自动化研究所_其他
作者单位	1.University of Chinese Academy of Sciences, Beijing, 100049, China 2.SIASUN Robot and Automation Co., Ltd, Shenyang, Liaoning, 110068, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Song JL,Xu F,Jia K,et al. Servomotor modelling and control for safe robots[C]. 见:. Zhuhai, China. December 6-9, 2015.