TY - CONF A1 - Hüllmann, Dino A1 - Kohlhoff, Harald A1 - Neumann, Patrick P. ED - Bársony, I. ED - Zolnai, Z. ED - Battistig, G. T1 - Embedded control of a PMSM servo drive without current measurements T2 - Proceedings of the 30th anniversary Eurosensors Conference – Eurosensors 2016 N2 - A permanent-magnet synchronous motor (PMSM) servo drive for lightweight robotic platforms that have a high torque demand at low rotational speeds has been developed. First, a current-independent torque controller is derived and cascaded with a speed and position controller, while merely an encoder is used as a sensor device in combination with a speed estimator. Finally, the speed estimator output is compared to gyroscope measurements and the overall functioning is verified on a real system. T2 - 30th Eurosensors Conference - Eurosensors 2016 CY - Budapest, Hungary DA - 04.09.2016 KW - BLDC KW - PMSM KW - Motor control KW - Servo drive KW - Optical incremental encoder PY - 2016 UR - https://nbn-resolving.org/urn:nbn:de:kobv:b43-388973 DO - https://doi.org/10.1016/j.proeng.2016.11.487 SN - 1877-7058 VL - 168 SP - 1671 EP - 1675 PB - Elsevier B.V. CY - Amsterdam, Netherlands AN - OPUS4-38897 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -