38897 2016 eng 1671 1675 168 conferenceobject Elsevier B.V. Amsterdam, Netherlands 1 -- -- -- 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. Proceedings of the 30th anniversary Eurosensors Conference – Eurosensors 2016 10.1016/j.proeng.2016.11.487 urn:nbn:de:kobv:b43-388973 1877-7058 30th Eurosensors Conference - Eurosensors 2016 Budapest, Hungary 04.09.2016 07.09.2016 09.02.2017 Creative Commons - Namensnennung - Nicht kommerziell - Keine Bearbeitung 3.0 Dino Hüllmann Harald Kohlhoff Patrick P. Neumann eng uncontrolled BLDC eng uncontrolled PMSM eng uncontrolled Motor control eng uncontrolled Servo drive eng uncontrolled Optical incremental encoder Angewandte Physik Datei für die Öffentlichkeit verfügbar ("Open Access") Graue Literatur Wissenschaftliche Artikel der BAM Bundesanstalt für Materialforschung und -prüfung (BAM) https://opus4.kobv.de/opus4-bam/files/38897/Eurosensors2016_Paper_Huellmann_Published.pdf