マイクロプロセッサ制御直流他励発電機を用いた慣性,粘性および弾性負荷トルクシミュレ-タ

概要

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The position and the speed control systems used in the industrial robots or the autonomous vehicles have to be developed for the load torque changing with time. However, it is difficult to set the load touque as a function of time by use of passive load, suth as the friction and the inertia mass.<BR>This paper describes the principle and the performance of a load torque simulator which is constructed by a dc generator and a current type dc amplifier and controlled by a micropocessor. The simulator is able to produce some kinds of torque such as inertia viscous and elastic load torque which has arbitrary magnitude and is set as a function of time. The responses of the dc motor coupled to the simulator are measured to verify the availability of this simulator. Furthermore, the responses calculated theoretically are also shown.
システム制御情報学会の論文