Design and Control of a Closed-Loop Brushless Torque Actuator
| dc.contributor.author | Levin, Michael Dean | en_US |
| dc.date.accessioned | 2004-10-20T20:23:03Z | |
| dc.date.available | 2004-10-20T20:23:03Z | |
| dc.date.issued | 1990-05-01 | en_US |
| dc.identifier.other | AITR-1244 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/7034 | |
| dc.description.abstract | This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to determine dynamic characteristics. A reaction torque sensor fixed to the motor stator was implemented to decouple the transmission dynamics from the sensor. This resulted in a compact actuator with higher bandwidth and precision than could be obtained with an inline or joint sensor. Testing demonstrated that closed-loop torque accuracy was within 0.1%, and the mechanical bandwidth approached 300 Hz. | en_US |
| dc.format.extent | 4976921 bytes | |
| dc.format.extent | 3883739 bytes | |
| dc.format.mimetype | application/postscript | |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | |
| dc.relation.ispartofseries | AITR-1244 | en_US |
| dc.title | Design and Control of a Closed-Loop Brushless Torque Actuator | en_US |
