A novel direct-drive motor system for the joint of the robot

Author

Chen, Hao ; Zhang, Dong ; Jiang, Jianguo

Author_Institution

China Univ. of Min. & Technol., Xuzhou, China

Volume

2

fYear

2001

fDate

2001

Firstpage

1217

Abstract

A three-phase 12/8 structure switched reluctance servo motor drive system for the direct-drive joint of the robot is introduced. The component parts, such as the structure of the 12/8 structure motor, the structure of the rotor position detector, the power converter and the decoupling control of the phase voltage are presented. The mathematical models of each phase circuit in the system and the phase voltage at the different conditions and the different status, such as one phase conduction, two phase conduction, three phase conduction, and supply, chopping, commutation, based on the decoupling control of the phase voltage, are given. The tested results of the prototype are also given

Keywords

commutation; machine testing; power convertors; reluctance motor drives; robots; servomotors; 12/8 structure motor; DC supply voltage; chopping; commutation; decoupling control; direct-drive joint; direct-drive motor system; mathematical models; one phase conduction; phase circuit; phase voltage; power converter; robot joint; rotor position detector; servo motor drive system; supply; tested results; three phase conduction; three-phase switched reluctance servo motor; two phase conduction; Detectors; Mathematical model; Motor drives; Phase detection; Reluctance motors; Robots; Rotors; Servomechanisms; Servomotors; Voltage control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2001. Canadian Conference on

Conference_Location

Toronto, Ont.

ISSN

0840-7789

Print_ISBN

0-7803-6715-4

Type

conf

DOI

10.1109/CCECE.2001.933615

Filename

933615