Intelligent Position Control of a Vertical Rotating Single Arm Robot Using BLDC Servo Drive

Abstract

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional-integral-derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

Application in Virtual System Modelling (VSM) of Sensored Pm BLDC Motor Drive Using Two Technologies of Processors PIC16F877Aand Arduino Uno R3

“…The EMF equation of the BLDC motor is quite simple and resembles the conventional DC motor. Induced EMF in a single coil can be expressed in Equation ( 1), [10][11][12].…”

“…Equation ( 6) is obtained by substituting Equation (3) into Equation ( 5). Equation ( 6) is obtained by substituting Equation (3) into Equation ( 5), [10][11][12]. 6), the speed of the motor can be expressed as in Equation ( 7), and the input power of the motor is presented in Equation ( 8), [10][11][12].…”

“…Equation ( 6) is obtained by substituting Equation (3) into Equation ( 5), [10][11][12]. 6), the speed of the motor can be expressed as in Equation ( 7), and the input power of the motor is presented in Equation ( 8), [10][11][12]. Hence the mechanical power developed in the motor is described in Equation ( 9), and the torque developed in the motor is given by Equation ( 10), [10][11][12].…”

Sensorless Control for Joint Drive Unit of Lower Extremity Exoskeleton with Cascade Feedback Observer

“…However, the zero-crossings of line's back-EMF and the commutation point of the Hall signal are completely corresponding. Equations (1) and 2…”

“…Brushless DC (BLDC) motor not only has the advantages of simple operation and reliable maintenance [1], but also has the advantages of simple control, high efficiency, and good performance of speed regulation as DC motor; therefore, it is widely used in aerospace, instrumentation, medical devices, robotics, and other fields. There are many examples of the use of BLDC motor as a power source in extremity exoskeleton systems, and some of them have achieved very successful results, such as HAL-5 [2], Lokomat [3], and Rewalk [4].…”