Encoderless Predictive Direct Torque Control for Synchronous Reluctance Machines at Very Low and Zero Speed

Morales-Caporal, Roberto; Pacas, Mario

doi:10.1109/tie.2008.2007025

Cited by 82 publications

(32 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For example, primitives that are very close 1 to the current state of the end-effector should be considered to be more reliable 2 than further away primitives. To take this important information into account, it is possible to apply instead a weighted least squares approach for solving (7). The idea is to put different weights w 1 .…”

Section: Proposed Implementationmentioning

confidence: 99%

Encoderless position control of a two-link robot manipulator

Kormushev

Demiris

Caldwell

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Abstract-Encoders have been an inseparable part of robots since the very beginning of modern robotics in the 1950s. As a result, the foundations of robot control are built on the concepts of kinematics and dynamics of articulated rigid bodies, which rely on explicitly measuring the robot configuration in terms of joint angles -done by encoders.In this paper, we propose a radically new concept for controlling robots called Encoderless Robot Control (EnRoCo). The concept is based on our hypothesis that it is possible to control a robot without explicitly measuring its joint angles, by measuring instead the effects of the actuation on its end-effector. To prove the feasibility of this unconventional control approach, we propose a proof-of-concept control algorithm for encoderless position control of a robot's end-effector in task space. We demonstrate a prototype implementation of this controller in a dynamics simulation of a two-link robot manipulator. The prototype controller is able to successfully control the robot's end-effector to reach a reference position, as well as to track continuously a desired trajectory.Notably, we demonstrate how this novel controller can cope with something that traditional control approaches fail to do: adapt on-the-fly to changes in the kinematics of the robot, such as changing the lengths of the links.

show abstract

Section: Proposed Implementationmentioning

confidence: 99%

Encoderless position control of a two-link robot manipulator

Kormushev

Demiris

Caldwell

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…Iqbal analyzes dynamic performance of a vector-controlled five-phase synchronous reluctance motor drive by using an experimental investigation [27]. Morales and Pacas design an encoderless predictive direct torque control for synchronous reluctance machines at very low and zero speed [28]. Park, Kalev, and Hofmann propose a control algorithm of high-speed solid-rotor synchronous reluctance motor/ generator for flywheelbased uniterruptible power supplies [29].…”

Section: Rotor Estimating Techniquementioning

confidence: 99%

Controller Design for Synchronous Reluctance Motor Drive Systems with Direct Torque Control

Liu¹

2011

Torque Control

View full text Add to dashboard Cite

“…However, as the SyRM is inherently salient, methods providing a rotorposition estimate even at standstill are readily applicable. These methods can be roughly categorized as: signal-injection methods [1], [3]- [6]; modified PWM [7], [8]; and methods based on stator current variation without additional signal [9], [10]. Since the signal-injection methods inflict additional noise and losses, back-EMF-based position estimation methods are a desirable starting point.…”

Section: Introductionmentioning

confidence: 99%

Signal-Injection-Assisted Full-Order Observer With Parameter Adaptation for Synchronous Reluctance Motor Drives

Tuovinen

Hinkkanen

2014

IEEE Trans. on Ind. Applicat.

View full text Add to dashboard Cite

Abstract-A back-EMF-based position observer for motionsensorless synchronous reluctance motor (SyRM) drives is augmented with parameter-adaptation laws for improved operation at all speeds, including standstill. The augmented observer is theoretically analyzed under various operation conditions. The analysis indicates that the stator-resistance adaptation should be enabled only at low speeds, the d-axis inductance adaptation should be enabled only at medium and high speeds near no load, and the q-axis inductance adaptation should be enabled only at high speeds under high load. The augmented observer is experimentally evaluated using a 6.7-kW SyRM drive.

show abstract

Encoderless Predictive Direct Torque Control for Synchronous Reluctance Machines at Very Low and Zero Speed

Cited by 82 publications

References 15 publications

Encoderless position control of a two-link robot manipulator

Encoderless position control of a two-link robot manipulator

Controller Design for Synchronous Reluctance Motor Drive Systems with Direct Torque Control

Signal-Injection-Assisted Full-Order Observer With Parameter Adaptation for Synchronous Reluctance Motor Drives

Contact Info

Product

Resources

About