PMID- 35888871
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20220731
IS  - 2072-666X (Print)
IS  - 2072-666X (Electronic)
IS  - 2072-666X (Linking)
VI  - 13
IP  - 7
DP  - 2022 Jun 30
TI  - Field Programmable Gate Array Based Torque Predictive Control for Permanent 
      Magnet Servo Motors.
LID - 10.3390/mi13071055 [doi]
LID - 1055
AB  - With the increasing demand for legged robots, the importance of the joint drive 
      is increasing. The dynamic performance of the inner-most torque/current control 
      loop conditions the capabilities of the whole joint system. In this paper, a 
      direct torque control based on a prediction model is proposed. The motor torque 
      is estimated by considering calculation and measurement delay; error estimation 
      and torque tracking error are observed and compensated. The control algorithm was 
      implemented on a Field Programmable Gate Array (FPGA) board to apply the 
      capabilities of concurrency calculation of the FPGA. The effectiveness of the 
      proposed control algorithm was experimentally verified. Compared with the 
      commonly used Field Oriented Control (FOC) current controller, the presented 
      controller can not only improve the dynamic performance of the motor but also 
      reduce the average switching times of the inverter.
FAU - Sun, Zheng
AU  - Sun Z
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
FAU - Xu, Yikun
AU  - Xu Y
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
FAU - Ma, Zhipeng
AU  - Ma Z
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
FAU - Xu, Jun
AU  - Xu J
AUID- ORCID: 0000-0001-7255-9952
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
FAU - Zhang, Tao
AU  - Zhang T
AD  - School of Electrical Engineering, Dalian University of Technology, Dalian 116024, 
      China.
FAU - Xu, Muxun
AU  - Xu M
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
FAU - Mei, Xuesong
AU  - Mei X
AUID- ORCID: 0000-0001-6505-2774
AD  - State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong 
      University, Xi'an 710049, China.
LA  - eng
GR  - 2018YFB1304500/National Key Research and Development Program of China/
GR  - 51975461/National Natural Science Foundation of China/
PT  - Journal Article
DEP - 20220630
PL  - Switzerland
TA  - Micromachines (Basel)
JT  - Micromachines
JID - 101640903
PMC - PMC9316601
OTO - NOTNLM
OT  - FPGA
OT  - PMSM
OT  - motor drive
OT  - torque predictive control
COIS- The authors declare no conflict of interest.
EDAT- 2022/07/28 06:00
MHDA- 2022/07/28 06:01
PMCR- 2022/06/30
CRDT- 2022/07/27 01:32
PHST- 2022/05/31 00:00 [received]
PHST- 2022/06/25 00:00 [revised]
PHST- 2022/06/28 00:00 [accepted]
PHST- 2022/07/27 01:32 [entrez]
PHST- 2022/07/28 06:00 [pubmed]
PHST- 2022/07/28 06:01 [medline]
PHST- 2022/06/30 00:00 [pmc-release]
AID - mi13071055 [pii]
AID - micromachines-13-01055 [pii]
AID - 10.3390/mi13071055 [doi]
PST - epublish
SO  - Micromachines (Basel). 2022 Jun 30;13(7):1055. doi: 10.3390/mi13071055.