论文标题
考虑到热力学限制
Accessible Torque Bandwidth of a Series Elastic Actuator Considering the Thermodynamic Limitations
论文作者
论文摘要
在论文的范围内，考虑到执行器的热力学行为，分析了串联弹性执行器和开放环和闭环扭矩带宽参数的机电和热力学模型。据观察，由于热力学限制，在整个扭矩参考幅度范围内无法访问执行器机电子系统的闭环扭矩带宽。因此，利用并分析了基于定子绕组温度估计的定子绕组温度估计控制器，以改善基于控制器的扭矩带宽的可访问性。本文将HEBI Robotics X5-9执行器上的方法作为案例研究。
Within the scope of the paper, electromechanical and thermodynamic models are derived for a series elastic actuator and open loop and closed loop torque bandwidth parameters are analysed considering the thermodynamic behaviour of the actuator. It was observed that the closed loop torque bandwidth of the electromechanical subsystem of the actuator was not accessible in the entire torque reference amplitude range due to thermodynamic limitations. Therefore, a stator winding temperature estimation based adaptive controller is utilised and analysed to improve the accessibility of the controller based torque bandwidth. This paper implements the methodology on a HEBI Robotics X5-9 actuator as a case study.
