By M. Ahmad

ISBN-10: 9533076860

ISBN-13: 9789533076867

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K t and Ia are the actuator torque constant and reference current respectively. It is worth noting that equation (12) can be implemented on each joint of the robot. As shown in Fig. 5, the estimated disturbance with force or torque units is commonly used in the realization of an additional compensation control input which is used in the attainment of robustness. In order to decouple the reaction force out of the disturbance force, or in order to construct a force observer for the realization of the sensorless force control, system parameters have to be identified.

I s ) 2 2 Fig. 8. Diagram of the induction motor electromagnetic torque estimator based on an integrator with offset minimization. To eliminate the ripple presented in estimated electromagnetic torque, another first order low-pass filter was used. The second low-pass filter was designed in the same manner as the first low-pass filter, generating the filtered electromagnetic torque curve. In the next section, the comparative results of two techniques are presented: current control and torque control.

Block diagram of reaction torque control based on idealized model. Fig. 15. Experimental result of AFS by reaction torque control based on idealized model with SBW. 24 Advances in Motor Torque Control The experimental results for this control are shown in Fig. 15. The graph of the angle shows that the front axle wheel angle returned to 30°, and the steering wheel angle was maintained constant angle at 90°. On the other hand, the steering torque shows that the driver constantly received a reaction torque.

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Advances in Motor Torque Control by M. Ahmad


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