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符毓 Yu
(2024-08-31 23:18):
#paper doi: 10.1038/s41598-022-06214-7, Science Report, 2022, Low voltage optical fiber positioner robot based on minimum inductance hollow cup motors
新一代光纤定位机器人选用了相位电感最小的4 mm空心杯电机。由于光纤定位机器人负载为恒定值，电机转动惯量很小，因此提出了一种基于空间矢量脉冲宽度调制的开环定位控制方法，并通过相关实验策略直接整定具体的开环参数。从细分、基频、造波方式、峰值电流4个方面详细讨论了开环驱动方式的关键因素。基于实际光纤定位机器人，搭建了硬件驱动与考核平台。定位试验表明，所提方法实用有效，满足新一代光纤定位机器人的精密定位需求。
Scientific Reports,
2022-2-17.
DOI: 10.1038/s41598-022-06214-7
Abstract:
AbstractWith the further transformation of The Large Sky Area Multi-Object Fiber Spectroscopic Telescope, the new generation of fiber positioner robot chooses a 4 mm hollow cup motor with minimum phase …
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AbstractWith the further transformation of The Large Sky Area Multi-Object Fiber Spectroscopic Telescope, the new generation of fiber positioner robot chooses a 4 mm hollow cup motor with minimum phase inductance. Because the load of the fiber positioner robot is constant and the inertia of the motor is very small, an open loop positioning control method based on Space Vector Pulse Width Modulation is proposed, and the specific open loop parameters are directly tuned by relevant experimental strategies. The critical factors of the open loop driving mode are discussed in detail from four aspects: subdivision, fundamental frequency, wave generation mode and peak current. Based on the actual fiber positioner robot, the hardware driver and assessment platform are built. The positioning tests show that the method proposed is practical and effective, and meets the precision positioning demand of the new generation optical fiber positioner robot.
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