Abstract
Since an existing 3-phase inner rotor torque actuator (TA) has severe torque ripples, it is not appropriate for a gimbal system that requires precise position control. Therefore, a coreless TA is considered to eliminate the core causing torque ripples. In order to compensate for several problems (e.g., problems of production structures and output degradation) when a coreless type is used, the final 2-phase outer rotor is proposed for the low vibration and high power TA in the gimbal system. To control the 2-phase TA applied to such the gimbal system, special inverter control methods, such as bi-directional drive for tilting control and control for output torque improvement, are required. The 2-phase 3-leg inverter is free of DC capacitor voltage unbalance compared to the 2-leg inverter, and is economical because it uses less power switches than the 4-leg inverter. Therefore, the 2-phase 3-leg inverter is applied to drive the 2-phase outer rotor coreless TA of a hybrid gimbal system, and it is verified through simulation.
Highlights
Interest in unmanned aerial vehicles and multi-degree-of-freedom (Multi-D.O.F)gimbal systems has increased due to the generalization of small unmanned helicopters (Heli-cam).The Multi-D.O.F system implements movement by connecting several different actuators to the frames and is widely applied to robot joints, machine tools, aerospace industry and helicopter propellers [1].Especially, when the Multi-D.O.F system is applied to the camera’s horizontal control of drones, accurate position control is required to prevent the zero point from being shaken
Bi-directional control is necessary for the tilting effect of the torque actuator (TA) applied to the gimbal system
The 4-leg inverter can apply tilting control and realize space vector pulse width modulation (SVPWM), it has several disadvantages: (1) the system becomes bulky as the tilting control and realize SVPWM, it has several disadvantages: (1) the system becomes bulky as number of power switch grows; (2) the system price increases; (3) the control logic becomes the number of power switch grows; (2) the system price increases; (3) the control logic becomes complicated
Summary
Interest in unmanned aerial vehicles and multi-degree-of-freedom (Multi-D.O.F). When the Multi-D.O.F system is applied to the camera’s horizontal control of drones, accurate position control is required to prevent the zero point from being shaken. It is important to reduce the torque ripple for precise position control of the gimbal system. A special inverter control method is required to control the 2-phase motor of the gimbal system [8,9,10]. Generally,totodrive drive a 2-phase motor, 2-leg inverter is sufficient [11,12]. Implement implement tilting control, at least two legs are required for one phase. 4-leg inverters are applied, as the unbalance problem. Paper will consider thethat application inverter that is optimal in terms of system consider thethis application of the inverter is optimalofinthe terms of system price and operation efficiency price operation efficiency to the2-phase proposed hybrid multi-D.O.F 2-phase motor.
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