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Basic Research on Precise Position Control Robot System Applying New Direct Drive Motor

应用新型直驱电机的精密位置控制机器人系统基础研究

基本信息

批准号：
61550209
负责人：
ISHIZAKA Akira
金额：
$ 0.83万
依托单位：
Technological University of Nagaoka
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

项目摘要

It is well known that squirrel-cage induction motors with special stator and rotor slot combination produce harmonic synchronous torque at a specific slip; such a motor has never been designed practically because of crawling. We took note of the fact that the harmonic synchronous torque has very large magnitude at low speed, and made basic research to apply it to the direct drive robot system required precise position control.It was made clear by theoretical investigation how to design such a special motor, and manufactured a motor for experiment, whose torque was 42.4 N-m at 112.5 rpm under the supply of 150 V, 60 Hz.As the slip is 0.75 or more where harmonic synchronous torque is produced, too heavy current flows in the winding when driven normally at the slip. We devised a new control scheme which enable to drive even at such a slip with appropriate current depending on the load; it is based on the idea controlling the internal phase angle of harmonic synchronous torque.The motor is driven by switched transisto inverter with current control as follows: its phase is controlled to hold the value calculated from the detected rotor position and the reference of the internal phase angle, and its effective value is done to make no difference between the reference and detected speed.It was verified by the experiment that the application of this control scheme to the motor desiged especially resulted in smooth acceleration and deceleration and stable slow speed drive with reasonable current depending on the load.We have also concluded from the study of static torque that it is proper to apply the step motor torque produced by the stator and rotor slot combination to the position control, and made clear what is the optimum design for the purpose.

众所周知，具有特殊定子和转子槽组合的鼠笼式感应电动机在特定转差率下产生谐波同步转矩;由于爬行，这种电动机从未被实际设计过。针对谐波同步转矩在低速时幅值很大的特点，对谐波同步转矩应用于需要精确位置控制的直接驱动机器人系统进行了基础性研究，从理论上明确了如何设计这种特殊的电机，并制作了一台实验用电机，在150 V电源下，112.5 rpm时转矩为42.4 N-m，由于在产生谐波同步转矩的情况下转差为0.75或更大，当以转差正常驱动时，过大的电流在绕组中流动。我们设计了一种新的控制方案，即使在这样的滑差下，也可以根据负载以适当的电流驱动;它是基于控制谐波同步转矩的内部相位角的想法。电机由开关晶体管逆变器驱动，电流控制如下：控制其相位以保持根据检测到的转子位置和内相位角的参考计算的值，实验证明，将该控制方案应用于所设计的电机，可以实现平稳的加减速和稳定的低速驱动，并根据负载情况，合理地调整电流大小，静态转矩的研究也表明，该控制方案是正确的将步进电机定转子槽组合产生的转矩应用于位置控制，并明确了为此目的的最佳设计。