BLDC of Robotic Manipulators with Neural Torque Compensator based Optimal Robust Control

Belov, Mikhail P.; Khoa, Tran Dang; Truong, Dinh Dang

doi:10.1109/eiconrus.2019.8656779

Cited by 4 publications

(2 citation statements)

References 12 publications

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“…Simultaneous control of motor speed and torque are required in a variety of applications. For instance, robotic joints need to move to a controlled pace, while at the same time keeping torque regulated when carrying a load [1]. Another example of a simultaneous speed and torque control are CNC machines.…”

Section: Introductionmentioning

confidence: 99%

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Parallel Loop Control for Torque and Angular Velocity of BLDC Motors with DTC Commutation

et al. 2020

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This paper is focused in the development of a parallel control loop of the angular velocity and torque for Brushless Direct Current (BLDC) motors. This parallel loop is proposed as an improvement for the performance of those cascaded solutions commonly reported in the body of literature of the field. Performance is improved by reducing the steady state error of the speed considerably when compared with the typical cascaded loop solution under a commanded change of torque. In addition, the steady state response of the parallel loop is reached in a shorter time. Simulations were designed to carry out a comparison between both methodologies. The results of these simulations consider only changes in the set point for speed or torque and are reported here. The control signal was applied to a simulated driver using a switching method known as Direct Torque Control of 2 and 3 phases (DTC-2+3P). These preliminary results show that the parallel control loop outperforms the cascaded control of BLDC motors.

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Section: Introductionmentioning

confidence: 99%

“…Both of these controllers are set up in a cascaded configuration . Belov [1] presents a triple control loop in cascade, considering position, speed, and torque, with an ANN compensator for torque.…”

Section: Introductionmentioning

confidence: 99%