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- 2016 (2) (entfernen)
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- Englisch (2) (entfernen)
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- BLDC (2)
- Motor control (2)
- PMSM (2)
- Servo drive (2)
- Optical incremental encoder (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.