The Switched Reluctance Motor Drive for the Direct-Drive Joint of the Robot

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Tracey Riley
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1 Poeedings of the 1 IEEE Intentionl onfeene on ootis & utomtion Seoul, Koe My 1-6, 1 The Swithed elutne Moto Dive fo the Diet-Dive Joint of the oot Ho hen Dong Zhng hin nivesity of Mining & Tehnology Xuzhou 18, hin henhoumt@16.net stt The e esents the iniles of the deouling ontol of the hse voltge in the Swithed elutne moto dive fo the diet-dive joint of the oot. The moto dive system elements, suh s the stutue of the thee-hse 6/1 stutue Swithed elutne moto nd the oto osition, the min iuit toology of the thee-hse ifil winding owe onvete nd the ulse width modultion ontol sttegy, e desied. The mthemtil models of the min iuit of the owe onvete e lso esented. The otimum nge of the tun-on ngle nd the tun-off ngle of the min swithes in the owe onvete e given y the iteion of eduing the ulstion of the outut toque with the -D finite element eletomgneti field lultion of the moto, the nonline simultion of the min iuit of the owe onvete with the ontol sttegy. 1 Intodution The D sevo moto with the seed edue hs een used to dive the joint of the oot in hin sine The esonne ould e odued esily in the ouse of oetion euse the igidity of the seed edue is not well. The stutue of the D sevo moto is omlited, nd its ost is high. Thus, the sevo moto with the high igid seed edue ould e used to dive the joint of the new genetionl oot. The mhining eo of the seed edue nd the te in the oetion use the noise of the joint nd the edution of sevie life. The sevo moto nd the seed edue wee onentted on the joint, it use the ulkiness of the joint. The sevo moto without the seed edue ould e used to dive the joint of the oot dietly [1]. It ontiutes to hve the omt stutue of the joint, void the eo of the toque nd the eo of the fixed osition used y the seed edue. The Swithed elutne moto dive hs the dvntge in high toque t the low seed nge, high tio of the toque to the ineti movement nd fst dynmi esond. ll those ontiute to dive the joint of the oot dietly without the seed edue. Sine the mgneti iuit of the Swithed elutne moto is stuted, the eltionshi etween the hse uent nd the toque is nonline, nd the nonline ouling of the hse uent, the hse voltge, the tun-on ngle nd the tun-off ngle of the min swithes in the owe onvete, the ommutted oveling ngle is existed, the outut toque of the moto hs the ulstion. The ousti noise of the moto is used y the dil mgneti tttion tht ts on the stto oles of the onduted hse []nd used y the ulstion of the outut toque. The ulstion of the outut toque is disdvntgeous to dive the joint of the oot dietly with the oetion of sevo. The deouling ontol of the hse voltge fo the moto is dvned in the e, nd the omonent ts nd the ontol iniles of the Swithed elutne moto dive fo the diet-dive joint of the oot e intodued. Piniles The hse indutne of the Swithed elutne moto ould e vied eiodilly with the ottion of the oto, nd the eiod is. In the e, ( ), the hse indutne ould e sended. In the e, ( ), the hse indutne hs the mximum vlue. In the e, ( d ), the hse indutne ould e desended. In the e, ( d ), the hse indutne hs the minimum vlue.,,, d e elted to the stto nd the oto ole-fe fto of the moto. The min swithes of the owe onvetes e tuned on t the tun-on ngle 1, nd those e tuned off t the tun-off ngle, the hse uent is doed down to zeo t the ommuttion ngle. If the esistne of the hse windings is negleted, nd the lekge flux is negleted, the flux linkge of the moto is s follows, ψ = ( ) 1, ( 1 ) (1) ω ψ 1 ( ), ( < ) () ω ω = /1/$1. 1 IEEE 149

2 nd, = 1 1 () ω = d is the oto ngul veloity, is Whee / dt) the hse voltge of the windings in the moto, is the ommuttion voltge []. The flux linkge, ψ, the hse indutne, L, nd the hse uent, i, hve the eltionshi s follows, ψ = Li (4) so, the hse uent n e exessed s follows, ( i = 1), ( 1 ) ωl (5) min ( 1) < ) (6) Lmin ( ( 1) ( 1) < ) (7) Lmin ( ( 1) ( 1) < ) (8) ωl mx ( 1) ( 1) < ) (9) Lmx ( Whee L min is the minimum vlue of the hse indutne, L mx is the mximum vlue of the hse indutne, nd = ( 1 ) (1) = K < ) (11) ( = ( ) (1) = K ( ) (1) Lmx L K = min (14) The vege eletomgneti toque of m-hse Swithed elutne moto is s follows, T v m = i d (15) Fom eq.(5) ~ eq.(15), if the tun-on ngle nd the tun-off ngle of the min swithes in the owe onvetes, 1, nd,, e fixed, the vege eletomgneti toque of m-hse Swithed elutne moto n e exessed s follows, 1 T v = [ K K1 K ω K7 ( K K4)ln( K 5 K6) ] K 8 (16) Whee, K ~ K 8 e the oeffiients whih e elted to,,,, L min, L mx, m,, 1 nd. Thee e diffeent the oeffiients, K ~ K 8, t the diffeent tun-on ngle nd the tun-off ngle of the min swithes in the owe onvetes, 1, nd,. If the tun-on ngle nd the tun-off ngle of the min swithes in the owe onvetes ould e fixed t the otimum nge, nd the vege eletomgneti toque of the Swithed elutne moto ould e ontolled y egulted the hse voltge of the windings in the moto, the nonline ouling of the hse voltge, the tun-on ngle nd the tun-off ngle of the min swithes in the owe onvete ould e deouled so tht the deouling ontol of the hse voltge ould e imlemented. It ontiutes to edue the ulstion of the outut toque. Moto Dive System Elements The moto dive system onsists of the thee-hse 6/1 stutue Swithed elutne moto, the thee-hse ifil winding owe onvete nd the ontolle. The lok digm is shown in Fig.1..1 The Moto The stto nd the oto oe of the Swithed elutne moto e mde of non-oiented silion steel lmintions. Fig. shows the geomety of the stto lmintions nd the oto lmintions. The moto hs six stto oles nd the ten oto oles. Thee e two teeth in one stto ole. Two oils e wound ound eh stto ole llelly. The oils on dimetilly oosite stto oles my e onneted in seies to fom hse ifil winding esetively. Thee e lso no windings, no mgnet nd no ush on the oto of the moto. The ion oe of the stto nd the oto is mde y the hot-olled silion steel lte. 144

3 Gte Dive iuit Powe onvete S Moto PWM iuit & egulto ommuttion iuit uent/voltge Potetion oto Position Deteto &QWOOH X oto Position Given Fig.1 lok digm of the moto dive system owe onvete. Fig. The geomety of the stto nd the oto lmintions. The oto Position Deteto The oto osition deteto shown in Fig. ould e instlled on the no shft extension of the moto, whih is mde u of two hotoeleti tnsdues nd slotted disk. The slotted disk tht hs fou teeth with 6 width e tooth nd fou slots with width e slot is fixed on the sme shft of the oto. The two hotoeleti tnsdues, S P nd S Q, e fixed on the endshield of the moto with 48 intevl. While the oto of the moto is otted, the two hotoeleti tnsdues ould ovide the sque wve signls, whih eesent the infomtion of the oto osition. Those ould e used s the oto osition feedk signls fo the sevo ontol of the oto osition, nd ould e lso used s the tiggeing signls nd the ommuttion signls of the min swithes in the Fig. Shemti digm of the oto osition deteto. The Powe onvete The thee-hse ifil winding owe onvete ould e used in the dive system, so tht the numes of semionduto swith omonents nd the volume of the owe onvete in the sevo dive system fo the diet-dive joint of the oot without the seed edue, ould e edued. Thee e two windings, one min swith nd one flywheel diode in e hse iuit. The min winding is onneted with the min swith, nd the uxiliy winding is onneted with the flywheel diode. The min winding nd the uxiliy winding e wound into the dimetilly oosite stto oles llelly, nd the end of the ifil winding is onneted with the evese olity. The tun tio of the min winding nd the uxiliy winding is one. Fig.4 gives the min iuit toology of the owe onvete. 1441

4 While the min swithes in the owe onvete e tuned on, the owe sulies eletil enegy to the min winding, eletil enegy, nd the sulied eletil enegy is onveted to mehnil enegy outut y the medium of the mgneti field of the moto. While the min swithes in the owe onvete e tuned off, then flywheel diodes onneted the uxiliy windings e tuned on y the EMF of the uxiliy winding, the mehnil enegy of the dive, the lods, nd the stoed mgneti enegy in the moto e ll hnged into the eletil enegy nd fed to the owe suly y the mgneti ouling of the min winding nd the uxiliy winding with the ontinuing uent. voltge in the low suly voltge owe onvete. Thus, the MOS field-effet tnsisto (MOSFET) ould e used s the min swithes in the owe onvete in ode to edue the on-stte loss of the min swithes nd the loss of the gte dive of the min swithes. It ontiutes to enhne the effiieny of the dive system..4 The ontolle The ulse width modultion (PWM) ontol sttegy ould e doted to egulte the vege eletomgneti toque of the moto nd to imlement the sevo ontol of the oto osition. In the owe onvete, the onduted signls of the min swithes e modulted y the PWM signl. egulting the vege eletomgneti toque of the moto ould e imlemented y ontolling the duty tio of the PWM signl. In the ontolle, the sevo ontol of the oto osition of the moto, the ove voltge otetion, the ove uent otetion nd the unde voltge otetion ould e imlemented, tht e sed on the oe of the DSP TMSF4. Fig.4 Min iuit toology of the owe onvetes The owe fo the sevo dive system is tye of D owe suly with low suly voltge. The stution voltge do of the min swithes hs etin te of the D suly 4 lultion nd Nonline Simultion The numes of oto oles in the 6/1 stutue Swithed elutne moto, Z, is 1, so tht the oto eiod,, is 6, nd then the hse diffeene of the dive system is s follows, = o α = (17) 1 The mthemtil models of the min iuit of the owe onvete is s follows, = di dt di dt ω di dt (18) Whee,, nd, is the hse voltge of hse, hse nd hse, esetively. i, i nd i, is the hse uent of hse, hse nd hse, esetively. ψ, ψ, ψ, is the hse flux linkge of hse, hse nd hse, esetively. t, is the time.,,, is the hse esistne of hse, hse nd hse, esetively. is the oto osition fo hse. The oto osition fo hse, the oto osition fo hse,, nd the oto osition fo hse,, hve the eltionshi s follows, nd, = α (19) α = () ψ ) = ψ ( ) = ψ ( ) (1) i ( ) = i ( ) = i ( ) () ( While the min swithes e tuned on, ( ) = ( ) = ( ) = () k = k1, ( k =,, ) (4) S T 144

5 Whee, S is the D suly voltge, T is the stution voltge do of the min swith, nd k1 is the hse esistne of the min winding. While the min swithes e tuned off, nd the flywheel diodes e tuned on, ( ) = ( ) = ( ) = (5) k = k ( k =,, ) (6) Whee, D is the on-stte voltge do of the flywheel diode, nd k is the hse esistne of the uxiliy winding. The eletomgneti toque of the Swithed elutne moto n e exessed s follows, T ( ) = (7) i onst = i = onst S i = onst Whee, W is the onjugte enegy in the mgneti field of the moto. sed on the mthemtil models, suh s eq.(17)~eq.(7), nd the develoed Design nd Simultion Softwe Pkge [4], the nonline simultion of the min iuit of the owe onvete with the ontol sttegy ould e mde. The flux linkge of hse, hse nd hse ould e lulted sed on the -D finite element eletomgneti field lultion of the moto [5]. In the ototye, the D sulied voltge s is 4 V, the ted outut toque is 1. N.m, the fequeny of the PWM signl is 11. KHz. The otimum nge of tun-on ngle of the min swithes is 1 ~, nd the otimum nge of tun-off ngle of the min swithes is 14 ~ 15, y the itei of eduing the ulstion of the outut toque, while = is the oto osition tht the xis the oto slot is ligned with tht of the stto ole of the onduted hse. sed on those, the ulstion of the outut toque tested exeimentlly is u to 1%. 5 onlusions The Swithed elutne sevo moto dive system, with the D multi-tooth nd multi-slot stutue moto, the thee-hse ifil winding owe onvete nd the DSP TMSF4 ontolle, ould e used s the moto dive fo the diet-dive joint of the oot. The thee-hse ifil winding owe onvete doted MOSFET min swithes ontiutes to enhne the effiieny of the dive system, to edue the on-stte loss of the min swithes nd to edue the loss of the gte dive of the min swithes. The deouling ontol of the hse voltge, with fixed the tun-on ngle of the min swithes nd the tun-off ngle of the min swithes t the otimum nge, ontiutes to edue the ulstion of the outut toque. The exeimentl tested esults onfim those. 6 knowledgement The uthos would like to thnk fo the Pojet 648 suoted y Ntionl Ntul Siene Foundtion of hin. 7 efeenes [1] idges M. M., Dwson D. M., nd Hu J., dtive ontol fo lss of Diet Dive oot Mniultos, Intentionl Jounl of dtive ontol nd Signl Poessing, Vol., No.4-5, , Set [] hen H., nd Xie G., Doule-Exittion Mgneti Pths of S Motos nd thei Effet on the dil Mgneti tttion, Jounl of hin nivesity of Mining & Tehnology, Vol.8, No.4,.8-41, July [] hen H., Jing J., Liu D., nd Zhu X., ommuttion of Swithed elutne Moto Dives, Poeedings of the 7th Intentionl Powe Eletonis & Motion ontol onfeene, Vol., , udest, Set [4] hen H., Meng X., nd Zheng L., Design nd Simultion Softwe Pkge of Swithed elutne Mhine Systems fo Windows 9x in English, Poeedings of IEEE 5th si-pifi onfeene on iuit nd Systems, , Tinjin, De.. [5] hen H., -D Eletomgneti Field nlysis of the Thee-Phse Swithed elutne Mhine, Poeedings of the 4th Intentionl onfeene on Eletomgneti Field Polems & litions, , Tinjin, Set.. 144

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