A robust control law is derived and examined for a direct-drive robot arm driven by a brushless DC motor (BLDCM). The complete dynamics of the motor and its interaction with the robot arm are accounted for. This is important, since in a direct-drive servo system the torque generated by the motor is directly transmitted to the load. Effects of magnetic saturation as well as reluctance variations are accounted for, in order to ensure accuracy. The effectiveness of the method is examined through computer simulations. The computational complexity of the overall control scheme is such that it can be readily used for real-time control
N. Hemati et al., "Robust Nonlinear Control of Brushless DC Motors in the Presence of Magnetic Saturation," Proceedings of the IEEE International Conference on Systems Engineering, 1990, Institute of Electrical and Electronics Engineers (IEEE), Jan 1990.
The definitive version is available at http://dx.doi.org/10.1109/ICSYSE.1990.203229
IEEE International Conference on Systems Engineering, 1990
Mechanical and Aerospace Engineering
Keywords and Phrases
DC Motors; Brushless DC Motors; Direct-Drive Servo System; Dynamics; Machine Control; Magnetic Saturation; Nonlinear Control; Nonlinear Control Systems; Reluctance Variations; Robot Arm; Robots; Servomotors; Torque
Article - Conference proceedings
© 1990 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.