Cable-Driven Parallel Robots by Andreas Pott

Author:Andreas Pott
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(6.36)

The motor current

(6.37)

is used for the inner current control loop, where is the winding inductance and is the rotor flux linkage caused by the permanent magnets. Considering the pole pair number , the motor torque is obtained by

(6.38)

The position control calculates the reference value for the downstream velocity control by the set-point and the effective angle using the controller amplification

(6.39)

For the velocity control loop, a proportional-integral controller with an amplification of and a time constant is used. Calculation of the control deviation

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