Flux Regulation for Torque-controlled Robotics Actuators

Upon the employment of robots in applications beyond traditional industries, the need for development of torque-controlled actuators has become more evident. To exploit the full capacity of torque/motion actuators, it is essential to regulate the motor flux in demand. Despite many studies in this area, major research in flux control has been dedicated to speed control. This work targets to present a novel and robust field weakening strategy for surface mounted permanent magnet motors (SPMSMs) when only a torque reference is given so that the motor velocity can adapt to operating conditions. The concept of proposed approach is elaborated and described qualitatively and mathematically. This work analyses the robustness of proposed approach to variation in motor parameters, and compares it with the performance of another approach in simulation and experimental results.