Abstract
With 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.
Highlights
With 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
Hollow cup motor belongs to BLDC (Brushless Direct Current) motor, because of its superior speed performance in a wide range of speed regulation, it is widely used in many speed regulation applications
The results reveals that the open loop positioning system satisfies the positioning requirements of the new generation LAMOST
Summary
Where T is carrier period, T1 is occupation time of −→V 100 , and T2 −→V 110. the occupation time of the basic vector is respectively:. In open loop control model, firstly, we should deal with the problem of the motor rotor’s initial positioning. The MCU (Microcontroller Unit) read the vector information stored in the FLASH at the end of the previous positioning operation. When the power-on run, the controller reads the last vector stored before from FLASH and takes it as the output of the initial positioning vector at current task, so that the rotor continues a new positioning and running from the position where it stopped last time. After the initial positioning of the motor rotor, the stator current vector Is (Variables involved are displayed in Fig. 6.) in a specific rotation direction is applied, and the rotor can be brought into the open loop rotation from standstill. The voltage equation of the motor can be given by:
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