Design and Control of a Closed-Loop Brushless Torque Actuator

dc.creator	Levin, Michael Dean
dc.date	2004-10-20T20:23:03Z
dc.date	2004-10-20T20:23:03Z
dc.date	1990-05-01
dc.date.accessioned	2013-10-09T02:48:03Z
dc.date.available	2013-10-09T02:48:03Z
dc.date.issued	2013-10-09
dc.identifier	AITR-1244
dc.identifier	http://hdl.handle.net/1721.1/7034
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.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.
dc.format	4976921 bytes
dc.format	3883739 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AITR-1244
dc.title	Design and Control of a Closed-Loop Brushless Torque Actuator

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