### Table 6.1: The performance of PD contorl, augmented PD control and computed torque control in test motion 1 with acceleration 7.2m/s2

2001

### Table 6.2: The performance of PD control, augmented PD control and computed torque control in test motion 2 with acceleration 15.0m/s2

2001

### Table 7.1. Computational Requirement for controlled brake torque calculation. Memory/operations

### Table 5. Force and Torque Resolution

"... In PAGE 7: ...003 rad This resolution can be improved by the use of encoders with more counts per revolution than the current 500-1000 counts. Table5 shows the computed force resolution of the mechanism. Table 5.... ..."

### Table 1: Estimated parameters for the laboratory apparatus. K0 m is a lumped gain representing motor torque constant and amplifer transconductance.

1999

"... In PAGE 11: ... We can analyze this situation further to discover the behavior of the system near this equilibrium point. Combining the equations (48,49,50,53,57) yields, after some algebra _ = ?kv + ?d12ke mg 2 + d12ke mg 2 cos( 1) + 1 2d11d12ke 3 2 (63) _ 1 = 2 (64) _ 3 = d12 d11 kv + d2 12 d11 ke mg 2 + mg d11 sin( 1) ? 1 2d2 12ke 3 2 ? d2 12 d11 ke mg 2 cos( 1) (65) Computing the Jacobian A of this nonlinear system at ( ; 1; 2) = (0; ; 0) yields, A = 2 6 6 4 ?kv 0 ?2d12ke mg 0 0 1 d12 d11 kv ? mg d11 2d2 12 d11 ke mg 3 7 7 5 (66) Using the parameters from Table1 gives A = 2 6 4 ?kv 0 ?1:2259 10?5ke 0 0 1 0:0067kv ?78:5308 1:6386 10?7ke 3 7 5 (67) We can compute the root locus of eigenvalues of A in terms of kv for given ke. For a range of ke up to about 4:792 108 the root locus is qualitatively as shown in Figure 2, while for larger values of ke, the root locus has the shape shown in Figure 3.... ..."

Cited by 1

### Table I Ratio between the torque ripple and the mean torque in % Pole

### Table II: Torque ripple in percent of nominal torque TN for the three operatin

### Table 6 - Torque Ratio Calculation

### Table 7: Experimental motor torque constants - motor

1994

"... In PAGE 4: ... 4.2 Torque constants Motor torque constants are shown in Table7 . To determine the torque constants from the reports cited, it is necessary to make assumptions about the cur- rent loop gain and the gear ratios.... In PAGE 4: ... Armstrong apos;s max- imum torque values are divided by the gear ratio and the maximum current to give torque constant. The CSIRO and MU columns of Table7 were obtained by... ..."

Cited by 10

### Table 2 Torque Loads and their parameter values.

in IN

"... In PAGE 9: ...able 1 Parameters of the DC Motor Drive........................................................................ 9 Table2 Torque Loads and their parameter values.... ..."