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طراحی و تحلیل عملکرد ریزالور با زاویه محدود برای کاربردهای با سرعت مکانیکی کم
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طراحی و تحلیل عملکرد ریزالور با زاویه محدود برای کاربردهای با سرعت مکانیکی کم

اعظمی، رضا Azami, Reza

Design and Performance Analysis of Limited Angle Resolver for Low-Mechanical Speed Applications

Azami, Reza | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58555 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Nasiri Gheidari, Zahra
  7. Abstract:
  8. With the rapid expansion of robotic applications, the demand for actuators with low energy consumption has becom increasingly evident. Permanent magnet (PM) motors, owing to their high power density, torque density, and efficiency, have attracted significant attention as suitable candidates robotic actuators. Accurate rotor position information is essential for the proper control of PM motors, which is typically obtained using position sensors. Among these sensors, resolvers are considered a more reliable choice due to their high accuracy, robustness, and ability to operate in high-vibration environments. The objective of this thesis is to design and develop a limited-angle resolver for low-speed mechanical applications, with a particular emphasis on robotics systems. Despite the advantages of limited-angle resolvers, relatively little research has been conducted on their improvement and development. Moreover, previous previous studies have not specifically focused on the requirements and challenges unique to robotic applications. The key challenges in designing resolvers for low-speed robotic systems include: achieving highly absolute position measurement, tolerating high vibration levels, meeting size and weight constraints, and maintaining low cost. In response to these challenges, the main objectives of this thesis are defined as follows:
    1. To propose a novel rotor structure.
    2. To introduce an innovative winding structure.
    3. To design a compact drive and signal processing circuit.
    4. To develop a position estimation algorithm.
    Based on these objectives, the contents of this thesis are organized into four chapters. Chapter 1 presents the background and the fundamental concepts used in this study. Chapter 2 describes the conceptual and detailed design of the proposed resolver. Chapter 3 is devoted to the design of the drive circuit design and signal-processing circuit. Chapter 4 introduces an extrapolation-based position estimation algorithm, which not only maintains satisfactory accuracy but also significantly enhances the processing speed and computational efficiency.
  9. Keywords:
  10. Variable Reluctance Resolver ; Virtual Winding ; Slotless Axial Flux Resolver ; Inherent Resolver Error ; Limited-Angle Resolver

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