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Damping torque

About: Damping torque is a research topic. Over the lifetime, 7370 publications have been published within this topic receiving 102079 citations.


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Patent
26 Sep 2006
TL;DR: In this paper, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limit, and a motor coupled with the torque-to-current converter.
Abstract: In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.

627 citations

Patent
19 Jun 2007
TL;DR: Torque shafts and other related systems and methods are described in this paper, where they are used for procedures that require torque and pushability in order to drive or deploy a device.
Abstract: Torque shafts and other related systems and methods are described herein. The torque shafts are both flexible and capable of transmitting torque. The torque shafts are useful for procedures that require torque and pushability to drive or deploy a device. The flexibility and pushability of the torque shafts enable them to curve along a tortuous path, and the torque transferring capability of the shafts enable them to transmit torque along the shaft.

608 citations

Journal ArticleDOI
TL;DR: In this article, a direct torque control method for an induction motor is presented which is quite different from field-oriented control, which is achieved according to the following priorities: (1) high-speed torque control; (2) regulation of the primary flux; (3) decreasing the zero phase sequence current; and (4) minimization of the inverter switching frequency.
Abstract: A novel direct torque control method for an induction motor is presented which is quite different from field-oriented control. Improving the torque response of a large-capacity induction motor using two sets of three-phase inverters and an open-data induction motor is of special concern. Instantaneous voltage vectors applied by an inverter have redundancy characteristics which provide some flexibility for selecting the inverter switching modes. By using this switching freedom, control is achieved according to the following priorities: (1) high-speed torque control; (2) regulation of the primary flux; (3) decreasing the zero phase sequence current; and (4) minimization of the inverter switching frequency. Simulations and experiments have been carried out to verify the feasibility of this priority control, accompanied by comparisons with another control scheme. Torque frequency-response corner frequencies above 2000 Hz have been experimentally measured, and time constants of 4 ms have been achieved for rotor-speed step responses from -500 to 500 r/min. The peak transient torque during the step change is about 20 times the rate torque. >

589 citations

Journal ArticleDOI
TL;DR: In this paper, the tuning of different passive damping methods and an analytical estimation of the damping losses allowing the choice of the minimum resistor value resulting in a stable current control and not compromising the LCL-filter effectiveness are proposed.
Abstract: Passive damping is the most adopted method to guarantee the stability of LCL-filter-based grid converters. The method is simple and, if the switching and sampling frequencies are sufficiently high, the damping losses are negligible. This letter proposes the tuning of different passive damping methods and an analytical estimation of the damping losses allowing the choice of the minimum resistor value resulting in a stable current control and not compromising the LCL-filter effectiveness. Stability, including variations in the grid inductance, is studied through root locus analysis in the z-plane. The analysis is validated both with simulation and with experiments.

506 citations

Journal ArticleDOI
TL;DR: In this article, a direct torque control (DTC) method of an induction machine is proposed which enables the minimum torque ripple control, while maintaining a constant switching frequency, and the proposed strategy improves the performance of the DTC by combining a low-torque ripple characteristic in steady state with the fast torque dynamics.
Abstract: In this paper, a direct torque control (DTC) method of an induction machine is proposed which enables the minimum torque ripple control, while maintaining constant switching frequency. Some drawbacks of the conventional DTC are the relatively large torque ripple in a low speed range and the variation of switching frequency according to the amplitude of hysteresis bands and the motor operating speed. In the proposed strategy, an RMS torque-ripple equation is derived using instantaneous torque equations and, at each switching cycle, an optimal switching instant which satisfies the minimum torque-ripple condition is determined based on the ripple equation. The proposed strategy improves the performance of the DTC by combining a low-torque-ripple characteristic in steady state with the fast torque dynamics. Experimental results prove the feasibility of the proposed strategy as compared with the conventional method.

494 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202383
2022161
202127
202032
201953
201869