By M. Ahmad
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Extra info for Advances in Motor Torque Control
Observe that the control is acting directly on the torque profile which is different from the current-control case, where the control did not act directly on the torque profile. Study on the Energy Efficiency of Soft Starting of an Induction Motor with Torque Control 43 From the torque control technique characteristics, it can be verified that: The speed slope is linear throughout the starting process, avoiding the pulse acceleration recorded in the current control technique; The acceleration waveform presents approximately linear behavior; The current waveform was very close to that observed in the current control technique.
The root locus of the system when the force sensor is attached to the robot end effector is depicted in Fig. 2-b, whereas, Fig. 2-a illustrates the root locus of the same system in the absence of force sensor. In both cases the root locus is plotted for different values of the environmental stiffness gain k e . It can be easily shown from Fig. 2 that adding a force sensor to the dynamical model of the system affects the system stability dramatically. Controlling a collocated point is much easier then a non-collocated point along the dynamical system as it can be shown from Fig.
Tmod el K ss C s s Ks Kt Ct d , Cs 1 Ka 1 K a dt Tm TˆRTRS Tmod el (16) (17) (18) Experimental Verification of Reaction Torque Control Based on Driver Sensitivity to Active Front Steering 27 Fig. 18. Hysteresis band characteristic changed by viscous friction. Fig. 19. Hysteresis band characteristic changed by angular velocity of steering wheel. 6. Experimental verification of AFS by proposed reaction torque control for steering The experimental verification revealed that the proposed method was effective in allowing a driver to operate a vehicle safely with AFS.
Advances in Motor Torque Control by M. Ahmad