| NON-LINEAR AND ADAPTIVE CONTROL OF A DIRECT-DRIVE MOTOR FOR ROBOT APPLlCATIONS | ||||||
| Author(s) | G. Honderd; B. C. Slegtenhorst, J. Hordijk | |||||
| Abstract | The Physics and Electronics Laboratory TNO (FEL/TNO) has developed a robot system that is part of an automatic vehicle test installation. Due to the special demands of the
servos, the drives are realised with direct-drive motors. In cooperation with the Control Laboratory of the Delft University of Technology, a combined non-linear and adaptive control for these motors has been designed. The special features of a direct-drive system are: - a speed-dependent current limitation to protect the direct-drive from sparking; - variations of the load-inertia which greatly influence the properties of the servosystem. The design of the control system included an adaptive compensation for variable load-inertia as well as a non-linear compensation network for the speed-dependent current limitation. |
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| Type | Members Only | |||||
| Date | Last modified 2021-03-10 by System | |||||
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