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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/7034| Title: | Design and Control of a Closed-Loop Brushless Torque Actuator |
| Issue Date: | 9-Oct-2013 |
| Description: | 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. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AITR-1244 http://hdl.handle.net/1721.1/7034 |
| Appears in Collections: | MIT Items |
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