Regelungsstrategien für permanentmagnetische Direktantriebe mit mehreren Freiheitsgraden

摘要

Multi-dimensional motion control in robots and machine tools are often realized by connecting several rotational or linear one-dimensional drives in series. This thesis describes a new electrical drive concept for permanent magnet direct drives with multiple degrees of freedom. As an example, a planar and a spherical motor is presented. A new developed method for the force and torque control is presented, which calculates the stator currents on basis of the command signals. During operation each stator pole has to be controlled individually because of the variable pole pitch. Different vector control algorithms are developed to compute a solution for the over-determined system within a limited control cycle time. The developed algorithms were tested in simulations and implemented in test benches for verification. New components were designed for this special drive concept, e.g. a cluster of several control boards (ISEADSP) with digital signal processors and a modular power converter which has 96 channels. Not only the setup of the test benches and its components but also simulations and experiments of the multi-dimensional motion are presented in this work.