The switched reluctance motor drive for the direct-drive joint of the robot

Abstract

The paper presents the principle of decoupling control of the phase voltage in the switched reluctance motor drive for the direct-drive joint of the robot. The motor drive system elements, such as the structure of the three-phase 6/10 structure switched reluctance motor and the rotor position, the main circuit topology of the three-phase bifilar winding power converter and the pulse width modulation control strategy, are described. The mathematical models of the main circuit of the power converter are also presented. The optimum range of the turn-on and turn-off angles of the main switches in the power converter are given by the criterion of reducing the pulsation of the output torque with a 2D finite element electromagnetic field calculation of the motor and the nonlinear simulation of the main circuit of the power converter with the control strategy.