Direct Torque Control Model Implementation

In this article, I would like to share my friend's direct torque control model implementation. This model is particularly interesting as it enables precise robotic motion control, allowing robots to accurately perform various tasks. The model's applicability extends beyond robotics to other domains such as aerospace and automotive industries.

How does this model function technically? It leverages the direct torque characteristics of electric motors by controlling motor current to regulate robotic movements. For proper model operation, parameter tuning and optimization are essential. Key implementation considerations include determining the motor's maximum rotational speed and torque limits, while establishing mathematical relationships between torque and velocity through appropriate modeling techniques. In code implementation, this typically involves PID controllers for current regulation and lookup tables for torque-speed characteristics.

We hope this model provides inspiration for your projects and welcome your suggestions and ideas to collectively explore this fascinating topic of motion control systems. The model's architecture typically incorporates real-time feedback loops and may utilize field-oriented control (FOC) algorithms for enhanced performance.