Field Programmable Gate Array Based Torque Predictive Control for Permanent Magnet Servo Motors.

With the increasing demand for legged robots, the importance of the joint drive is increasing. The dynamic performance of the inner-most torque/current control loop conditions the capabilities of the whole joint system. In this paper, a direct torque control based on a prediction model is proposed.

Modelling and analysis of a new piezoelectric dynamic balance regulator.

In this paper, a new piezoelectric dynamic balance regulator, which can be used in motorised spindle systems, is presented. The dynamic balancing adjustment mechanism is driven by an in-plane bending vibration from an annular piezoelectric stator excited by a high-frequency sinusoidal input voltage. This device has different construction, characteristics and operating principles than a conventional balance regulator.