A Sensorless and Low-Gain Brushless DC Motor Controller Using a Simplified Dynamic Force Compensator for Robot Arm Application

Yen, Shih-Hsiang; Tang, Pei-Chong; Lin, Yuan-Chiu; Lin, Chia Ching

doi:10.3390/s19143171

Cited by 15 publications

(9 citation statements)

References 20 publications

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“…Encoders can be used for this purpose. The encoder is a precise meter determining the angular position of the rotor, but it increases the cost of the drive, while transmitting a significant excess of information that is not used for the BLDC motor control [ 30 ]. Encoders are not part of the article.…”

Section: Bldc Motor and Its Power Supplymentioning

confidence: 99%

Impact of Current Pulsation on BLDC Motor Parameters

Sikora

Woźniak

2021

Sensors

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BrushLess Direct-Current (BLDC) motors are characterized by high efficiency and reliability due to the fact that the BLDC motor does not require power to the rotor. The rotor of the BLDC motor consists of permanent magnets. When examining the waveform of the current supplied to the motor windings, significant current ripple was observed within one power cycle, where the optimum value would be the constant value of this current during one power cycle. The variability of this current in one motor supply cycle results from the variability of the electromotive force induced in the motor winding. The paper presents a diagram of the power supply system consisting of an electronic commutator and a DC/DC converter made by the authors, and a proposed modification of the power supply system reducing the current pulsation of the motor windings and thus the possibility of reducing energy losses in the motor windings. The paper presents numerous results of measurements which showed a significant reduction in energy losses in the case of low-load operation.

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Section: Bldc Motor and Its Power Supplymentioning

confidence: 99%

Impact of Current Pulsation on BLDC Motor Parameters

Sikora

Woźniak

2021

Sensors

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“…Summing different components of a single link in (12) and a single motor in (17), the total kinetic energy of the robotic manipulator can be calculated and yields…”

Section: Description Of Link Parameters Of Robotic Manipulatormentioning

confidence: 99%

“…Furthermore, the design of intelligence controllers for nonlinear systems affected by disturbances is a topic that has been studied by several authors, and many different approaches have been proposed for this problem [15][16][17]. Backstepping is a systematic and recursive design method for nonlinear control applied to the feedback linearization system, which can guarantee global regulation and tracking performance [18,19].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Zhu

Puchen

et al. 2020

Complexity

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To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.

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“…The set of the joint actuators can be represented by the following matrix differential equation [30]:…”

Section: Dynamic Model Of the Actuatorsmentioning

confidence: 99%

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

Concha

Figueroa-Rodríguez

Fuentes-Covarrubias

et al. 2020

Sensors

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This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot through a decentralized control scheme. The robot joints are actuated through five direct current motors coupled to optical encoders. Each encoder signal is fed to a proportional integral derivative controller with anti-windup that employs the motor velocity provided by a state observer. The motion controller works with only two open-architecture Arduino Mega boards, which carry out data acquisition of the optical encoder signals. MATLAB-Simulink is used to implement the controller as well as a friendly graphical interface, which allows the user to interact with the manipulator. The communication between the Arduino boards and MATLAB-Simulink is performed in real-time utilizing the Arduino IO Toolbox. Through the proposed controller, the robot follows a trajectory to collect a desired object, avoiding its collision with other objects. This fact is verified through a set of experiments presented in the paper.

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A Sensorless and Low-Gain Brushless DC Motor Controller Using a Simplified Dynamic Force Compensator for Robot Arm Application

Cited by 15 publications

References 20 publications

Impact of Current Pulsation on BLDC Motor Parameters

Impact of Current Pulsation on BLDC Motor Parameters

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Recycling and Updating an Educational Robot Manipulator with Open-Hardware-Architecture

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