By M. Ahmad
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Extra resources for Advances in Motor Torque Control
Therefore, it seems that a good solution to solve the existence of a torque pulse is to directly control the electromagnetic torque developed by the induction motor during the starting and stopping processes, adapting it to the torque profile of the driven load. 3. Torque control technique The difficulties related to implementing a soft-starter with torque control are more related to limitations resulting from hardware (inability of the drive frequency variation due to SCRs) than the theoretical knowledge associated with the control design.
It can be easily concluded from (13) that the force observer depends on a single measurement from the actuator along with the reference current input. Therefore, the problems associated with force sensors can be avoided by utilization of the force observer (13). There exist two main points that we have to emphasize here about force observers, namely, the force observer sensitivity and the tradeoff between the response and the noise attenuation. Concerning with the second point, it can be easily shown that the reaction force is estimated through a low-pass ﬁlter in order to assist in attenuating the effect of noise ampliﬁcation due to differentiation.
2-a illustrates the root locus of the same system in the absence of force sensor. In both cases the root locus is plotted for different values of the environmental stiffness gain k e . It can be easily shown from Fig. 2 that adding a force sensor to the dynamical model of the system affects the system stability dramatically. Controlling a collocated point is much easier then a non-collocated point along the dynamical system as it can be shown from Fig. 2. 02 (b) non-collocated system Fig. 2. root locus of system with and without force sensor for k e = 0 −→ 300 the environment, the force measurement taken through a force sensor has to be used to realize the motion control system as depicted in Fig.