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Simultaneous Identification of the Initial Rotor Position and Electrical Parameters of a PMSM for a Haptic Interface
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| Author(s) |
Flavia Khatounian, Sandrine Moreau, Eric Monmasson, Alexandre Janot, Francois Louveau |
| Abstract |
A haptic system consists in an articulated
mechanical structure with motors and position sensors, as
well as embedded electronics allowing force feedback. It is
driven by a haptic interface, which enables the user to
interact with an image in a virtual reality application,
through the sense of touch. This paper presents a simple
identification protocol using inverse models and leastsquares
techniques. It simultaneously estimates the initial
motor/encoder setting angle essential to obtain the best
dynamic behavior of the system and the electrical
parameters of the permanent magnet synchronous machine
driving the interface. This identification is necessary in the
case of unknown parameters to achieve a robust control
strategy of the overall system in terms of transparency and
stiffness. |
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| Filename: | T4-204.pdf |
| Filesize: | 400.3 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-12 by System |
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