Chapter
Apr 26, 2012
Motor Control with Active Impedance of the Driver
Authors: B. J. Lurie [email protected]., B. Dolgin [email protected]., and F. Y. HadaeghAuthor Affiliations
Publication: Robotics 2000
Abstract
Making the driver output impedance active allows reducing the sensitivity of the motor angular velocity to variations of the load parameters. Compensating the voltage drop on the motor winding, and making the output impedance of the driver the negative of the impedance of the motor winding are the two potentially equivalent design methods considered in this paper. Performances of the systems using a current driver, a voltage driver, and a driver with active output impedance are compared in applications to spacecraft antenna pointing and to a planetary rover wheel control.
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Information & Authors
Information
Published In
Robotics 2000
Pages: 313 - 319
Copyright
© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
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ASCE Technical Topics:
- Active control
- Aerospace engineering
- Aircraft and spacecraft
- Algorithms
- Antennas
- Communication systems
- Design (by type)
- Driver behavior
- Engineering fundamentals
- Geomatics
- Infrastructure
- Lifeline systems
- Load factors
- Mathematics
- Navigation (geomatic)
- Parameters (statistics)
- Statistics
- Structural control
- Structural design
- Structural engineering
- Structural health monitoring
- Traffic engineering
- Transportation engineering
Authors
Affiliations
Member of Technical Staff, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, Ca 91109.E-mail: [email protected].
Member of Technical Staff, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, Ca 91109.E-mail: [email protected].
F. Y. Hadaegh
Senior Research Scientist, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, Ca 91109.
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Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.