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Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors.

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  • 1State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China.

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Summary
This summary is machine-generated.

A new direct torque control method improves robotic joint performance by predicting motor torque and compensating for errors. This advanced control enhances dynamic capabilities and reduces inverter switching, crucial for legged robot development.

Keywords:
FPGAPMSMmotor drivetorque predictive control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Electrical Engineering

Background:

  • Increasing demand for legged robots necessitates improved joint drive performance.
  • The inner torque/current control loop is critical for overall joint system capabilities.
  • Existing control methods like Field Oriented Control (FOC) have limitations.

Purpose of the Study:

  • To propose a novel direct torque control algorithm for robotic joint drives.
  • To enhance the dynamic performance and efficiency of motor control.
  • To reduce the switching losses in the inverter.

Main Methods:

  • Developed a direct torque control strategy incorporating a prediction model.
  • Estimated motor torque by accounting for calculation and measurement delays.
  • Implemented error estimation and torque tracking error compensation.
  • Utilized a Field Programmable Gate Array (FPGA) for concurrent computation.

Main Results:

  • The proposed controller significantly improved motor dynamic performance.
  • Experimental verification confirmed the effectiveness of the predictive torque control.
  • Reduced average switching times of the inverter compared to FOC.
  • Demonstrated superior torque tracking accuracy.

Conclusions:

  • The direct torque control with prediction offers enhanced dynamic performance for robotic joints.
  • FPGA implementation enables efficient real-time control for complex algorithms.
  • This approach is a viable solution for high-performance legged robot applications.