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Smart Structures and Systems Volume 3, Number 1, January 2007 , pages 115-131 DOI: https://doi.org/10.12989/sss.2007.3.1.115 |
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Double DOF control of an electromechanical integrated toroidal drive |
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Lizhong Xu and Xin Liu
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| Abstract | ||
| The electromechanical integrated toroidal drive is a new drive system. For the control of the drive, the torque fluctuation and the steady-state errors should be removed and the fast response to the input change should be achieved. In this paper, the torque fluctuation of the drive system is analyzed and expressed as Fourier series forms. The transfer function of the torque control for the drive system is derived from its electromechanical coupled dynamic equations. A 2-DOF control method is used to control the drive system. Using definite parameter relationship of the 2-DOF control system, the steady errors of the torque control for the drive system is removed. Influences of the drive parameters on the control system are investigated. Using proper drive parameters, the response time of the control system is reduced and the quick torque response of the drive system is realized. Using a compensated input voltage, the torque fluctuation of the drive system is removed as well. The compensated input voltage can be obtained from the torque fluctuation equation and the transfer function. These research results are useful for designing control system of the new drive. | ||
| Key Words | ||
| toroidal drive; electromechanical integration; torque control; double freedom degree control. | ||
| Address | ||
| Mechanical Engineering Institute, Yanshan University, Qinhuangdao 066004, China | ||