A new approach to control of variable reluctance motors for DD robots

DD 로봇용 VR 모터의 제어를 위한 새로운 방식

In this paper, we present a DSP-based high dynamic performance torque control scheme of variable reluctance motors(VRM's) for DD(Direct Drive) robots via function inversion technique. The VRM with our controller behaves like DC motors, and hence developed torque tracks given torque command accurately with no torque ripples. Furthermore, our torque control algorithm ensures the production of maximum constant torque under maximum current limitation, minimizes power loss in each phase resistance, and takes magnetic saturation effect into account. Also, since our control algorithm is represented in the form of look-up table, it can be easily implemented with simple digital circuits and this tabular design method is computationally more accurate and simpler compared to the prior methods.