Speed Control of Non-collocated Stator-Rotor Synchronous Motor with Application in Robotic Surgery
Mohammadi, A, Samsonas, D, Di Natali, C et al. (3 more authors)
(2015)
Speed Control of Non-collocated Stator-Rotor Synchronous Motor with Application in Robotic Surgery.
In:
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015.
2015 10TH Asian Control Conference (ASCC), 31 May - 03 Jun 2015, Kota Kinabalu, Malaysia.
IEEE
ISBN 978-1-4799-7862-5
Abstract
This paper introduces Non-collocated Stator-Rotor Synchronous Motor (NSRSM) as a novel actuation system for cases where the stator and rotor are required to interact across a physical barrier. The main motivation for NSRSM is in the area of laparoscopic robotic surgery whereby it is desired to actuate the manipulators across the abdominal wall, but it also has potential application in other robotic surgery procedures. The configuration of NSRSM is similar to that of permanent magnet synchronous motor (PMSM) although due to asymmetric structure of the windings around the rotor, the electromechanical model of PMSMs was developed to obtain the dynamic model of NSRSM. The field oriented control method is used to develop an appropriate model for control purposes. Then two widely used control algorithms (PI controller and linear quadratic regulator (LQR)) are used to control the rotor speed in the presence of the modelling uncertainties and load disturbances. Simulation results show that these two methods are robust.
Metadata
Item Type:
Proceedings Paper
Authors/Creators:
Mohammadi, A
Samsonas, D
Di Natali, C
Valdastri, P
Tan, Y
Oetomo, D
Copyright, Publisher and Additional Information:
(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Keywords:
Permanet magnet synchronous motor; robotic surgery; field oriented control; LQR
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