Experimental identification and validation of model parameters of a permanent magnetic excited transverse flux machine for robotic applications

Abstract

This paper presents Finite Element Method calculation and measurement results of a permanent magnetic excited transverse flux machine designed as shoulder joint motor in an articulated six axis robot arm in service robotics. The transverse flux machine prototype with its claw pole stator and its external rotor with surface mounted permanent magnet, as well as the whole test bench setup is presented. A parameter identification scheme for obtaining direct and quadrature inductances required for controller design of a Field Oriented Control is presented and compared to no load measurements of the back-EMF voltages. Furthermore, simulated and measured torques are compared and the maximum torque per ampere curve is shown for the given prototype transverse flux machine. The paper concludes with a measured efficiency and power factor map.