THE DESIGN AND CONTROL OF LOW-TORQUE-RIPPLE VARIABLE RELUCTANCE MOTOR FOR DIRECT-DRIVE ROBOTICS

摘要

A direct-drive robot consists of a mechanical arm with electrical motors directly coupled to the joints. The need for improved electrical design is just as great since these robots require new types of motors that operate at low speed with high torque and control method that perform commutation with satisfactory smoothness. In this paper, several kinds of commercial DD motors are analyzed and compared. VR dual stator motor is confirmed as prototype. The-orical design has been completed. Basic feedback controller for single link drive system is established. According to the principle of vector control,the winding current can be obtained on the minimum torque-ripple. In the end,the method of selecting lead angle to obtain maximum torque is introduced.